extreme3dpro_driver

ROS 2 Foxy C++ driver for the Logitech Extreme 3D Pro joystick.

Reads raw Linux joystick events (/dev/input/jsX) and publishes:

Topic	Type	Description
/joy	sensor_msgs/msg/Joy	All axes (normalised −1…+1) and buttons
/cmd_vel	geometry_msgs/msg/Twist	Velocity command (requires deadman held)
/deadman	std_msgs/msg/Bool	Deadman switch state

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Axis & Button Map (Extreme 3D Pro)

Axes:
  0  X       (roll  — left / right)
  1  Y       (pitch — forward / back)
  2  Rz      (twist — yaw)
  3  Throttle (slider at base)
  4  Hat X   (−1, 0, +1)
  5  Hat Y   (−1, 0, +1)

Buttons:
  0  Trigger        (index finger)
  1  Thumb button   (top of stick)
  2  Button 3
  3  Button 4
  4  Button 5
  5  Button 6
  6–11  Base buttons (7‑12)

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Build

# In your ROS 2 workspace
cd ~/ros2_ws/src
cp -r /path/to/extreme3dpro_driver .
cd ~/ros2_ws
colcon build --packages-select extreme3dpro_driver
source install/setup.bash

Run

# With launch file (loads config/extreme3dpro.yaml)
ros2 launch extreme3dpro_driver extreme3dpro.launch.py

# Or directly
ros2 run extreme3dpro_driver extreme3dpro_node \
  --ros-args --params-file config/extreme3dpro.yaml

Verify

# Check joy topic
ros2 topic echo /joy

# Check twist output (hold trigger to enable)
ros2 topic echo /cmd_vel

# Monitor at 10 Hz
ros2 topic hz /joy

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Parameters

Parameter	Type	Default	Description
device	string	/dev/input/js0	Linux joystick device path
publish_rate	double	50.0	Publish frequency (Hz)
deadzone	double	0.05	Axis deadzone (0.0–1.0)
autorepeat	bool	true	Publish even when no new events
publish_twist	bool	true	Also publish cmd_vel
linear_scale	double	1.0	m/s at full axis deflection
angular_scale	double	1.0	rad/s at full yaw deflection
axis_x	int	0	Axis index for roll (strafe)
axis_y	int	1	Axis index for pitch (forward/back)
axis_yaw	int	2	Axis index for twist (yaw)
axis_throttle	int	3	Axis index for throttle
deadman_btn	int	0	Button for deadman switch (−1 to disable)

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Permissions

Make sure your user can read the joystick device:

sudo usermod -aG input $USER
# Log out and back in, then verify:
ls -la /dev/input/js0

License

MIT