extreme3dpro_driver

ROS 2 driver for the Logitech Extreme 3D Pro joystick. Reads raw Linux joystick events and publishes standard ROS messages.

Looking for ROS 1 Noetic? Switch to the ros1 branch.

Branch Strategy

Branch	ROS Distros	CI
main	Foxy · Humble · Iron · Jazzy · Rolling	5 parallel CI jobs
ros1	Noetic	1 CI job

Topics

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

Axis & Button Map

Axes:                                    Buttons:
  0  X        (roll  — left/right)         0  Trigger    (index finger)
  1  Y        (pitch — fwd/back)           1  Thumb      (top of stick)
  2  Rz       (twist — yaw)              2-5  Top buttons (3-6)
  3  Throttle (slider at base)          6-11  Base buttons (7-12)
  4  Hat X    (−1, 0, +1)
  5  Hat Y    (−1, 0, +1)

---

Install

Option A — apt (after bloom release)

sudo apt install ros-${ROS_DISTRO}-extreme3dpro-driver

Option B — From source

cd ~/ros2_ws/src
git clone https://github.com/DarmawanRobotics/extreme3dpro_driver.git
cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -r -y
colcon build --packages-select extreme3dpro_driver
source install/setup.bash

Usage

# Launch with config
ros2 launch extreme3dpro_driver extreme3dpro.launch.py

# Or run directly
ros2 run extreme3dpro_driver extreme3dpro_node

# Verify
ros2 topic echo /joy
ros2 topic echo /cmd_vel    # hold trigger!
ros2 topic hz /joy

Parameters

Parameter	Type	Default	Description
device	string	/dev/input/js0	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 without new events
publish_twist	bool	true	Also publish cmd_vel
linear_scale	double	1.0	m/s at full deflection
angular_scale	double	1.0	rad/s at full yaw
axis_x	int	0	Roll axis index
axis_y	int	1	Pitch axis index
axis_yaw	int	2	Twist/yaw axis index
axis_throttle	int	3	Throttle slider index
deadman_btn	int	0	Deadman button (−1 to disable)

---

Permissions

# Add user to input group
sudo usermod -aG input $USER
# Log out & back in

# Or use a udev rule:
# /etc/udev/rules.d/99-extreme3dpro.rules
SUBSYSTEM=="input", ATTRS{idVendor}=="046d", ATTRS{idProduct}=="c215", MODE="0666"

---

Publishing to ROS Package Repository (bloom)

Supaya package bisa di-install via apt, kamu perlu release lewat bloom ke ROS build farm.

1. Install bloom

sudo apt install python3-bloom python3-catkin-pkg fakeroot dpkg-dev debhelper
pip3 install -U bloom

2. Tag release

git tag 1.0.0
git push origin 1.0.0

3. Bloom release

# Ini akan buat release repo di GitHub kamu
bloom-release --rosdistro humble --track humble \
  --repo https://github.com/DarmawanRobotics/extreme3dpro_driver.git \
  extreme3dpro_driver

# Untuk semua distro sekaligus:
for distro in foxy humble iron jazzy rolling; do
  bloom-release --rosdistro $distro extreme3dpro_driver --track $distro
done

4. Submit ke rosdistro

1. Fork ros/rosdistro
2. Edit humble/distribution.yaml (dan distro lainnya):

extreme3dpro_driver:
  doc:
    type: git
    url: https://github.com/DarmawanRobotics/extreme3dpro_driver.git
    version: main
  release:
    packages: [extreme3dpro_driver]
    tags:
      release: release/humble/{package}/{version}
    url: https://github.com/DarmawanRobotics/extreme3dpro_driver-release.git
    version: 1.0.0-1
  source:
    type: git
    url: https://github.com/DarmawanRobotics/extreme3dpro_driver.git
    version: main
  status: developed

3. Buka Pull Request ke ros/rosdistro
4. Setelah di-merge, build farm otomatis build .deb dan publish ke packages.ros.org
5. 1–2 hari kemudian, user bisa sudo apt install ros-${ROS_DISTRO}-extreme3dpro-driver

---

Git Setup (Quick Start)

# Create repo
mkdir extreme3dpro_driver && cd extreme3dpro_driver
git init

# ── main branch (ROS 2) ──────────────────────────────────────
# Copy isi main_branch/ ke sini
git add -A
git commit -m "feat: extreme3dpro_driver for ROS 2 (Foxy–Rolling)"
git branch -M main
git remote add origin https://github.com/DarmawanRobotics/extreme3dpro_driver.git
git push -u origin main

# ── ros1 branch (Noetic) ─────────────────────────────────────
git checkout --orphan ros1
git rm -rf .
# Copy isi ros1_branch/ ke sini
git add -A
git commit -m "feat: extreme3dpro_driver for ROS 1 Noetic"
git push -u origin ros1

---

Repository Structure

main branch (ROS 2):               ros1 branch (Noetic):
├── .github/workflows/             ├── .github/workflows/
│   ├── foxy-build-ci.yaml         │   └── noetic-build-ci.yaml
│   ├── humble-build-ci.yaml       ├── CMakeLists.txt          (catkin)
│   ├── iron-build-ci.yaml         ├── package.xml             (format 2)
│   ├── jazzy-build-ci.yaml        ├── include/.../driver.h
│   └── rolling-build-ci.yaml      ├── src/
├── CMakeLists.txt    (ament)      ├── launch/extreme3dpro.launch
├── package.xml       (format 3)   ├── config/extreme3dpro.yaml
├── include/.../driver.hpp         └── README.md
├── src/
├── launch/extreme3dpro.launch.py
├── config/extreme3dpro.yaml
├── LICENSE
└── README.md

License

MIT — see LICENSE.