flysky_ibus_ros

Introduction

• flysky ibus decoder for ros

Features

• Need flysky RC, receiver and Usb to ttl converter
• can port to c++ and ros2 applications easily since decoder is included in "include" directory
• reads ibus message from ttyUSBx port and converts channel data to Twist msg

Tested Environment

• ROS melodic
• ubuntu 18.04
• flysky ibus fs-ia6b receiver + usb to ttl converter(pl2303)
• flysky i6s

How to Run

cd ${catkin_ws}/src
git clone https://github.com/guni9191/flysky_ibus_ros.git
cd flysky_ibus_ros/launch
roslaunch flysky_ibus.launch

Published Topic

• cmd_vel (geometry_msgs::Twist)
  • from -1 to 1
  • flysk i6s right joystick
    • go straight = up, go backwards = down
    • left spin = left, right spin = right

Launch Parameters

• frame_id (string)
  • publish twist_msg frame_id
• usb_port (string)
  • usb port name
• pub_topicname_cmdvel (string)
  • publish twist_msg topicname
• ang_reverse (bool)
  • angular velocity direction reverse