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README.html
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<!DOCTYPE html><html><head><meta charset="utf-8"><style>/* Fonts */
@font-face{
font-family: octicons-anchor;
src: url(data:font/woff;charset=utf-8;base64,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) format('woff');
}
@font-face{
font-family: fontawesome-mini;
src: url(data:font/woff;charset=utf-8;base64,d09GRgABAAAAAAzUABAAAAAAFNgAAQAAAAAAAAAAAAAAAAAAAAAAAAAAAABGRlRNAAABbAAAABwAAAAcZMzaOEdERUYAAAGIAAAAHQAAACAAOQAET1MvMgAAAagAAAA+AAAAYHqhde9jbWFwAAAB6AAAAFIAAAFa4azkLWN2dCAAAAI8AAAAKAAAACgFgwioZnBnbQAAAmQAAAGxAAACZVO0L6dnYXNwAAAEGAAAAAgAAAAIAAAAEGdseWYAAAQgAAAFDgAACMz7eroHaGVhZAAACTAAAAAwAAAANgWEOEloaGVhAAAJYAAAAB0AAAAkDGEGa2htdHgAAAmAAAAAEwAAADBEgAAQbG9jYQAACZQAAAAaAAAAGgsICJBtYXhwAAAJsAAAACAAAAAgASgBD25hbWUAAAnQAAACZwAABOD4no+3cG9zdAAADDgAAABsAAAAmF+yXM9wcmVwAAAMpAAAAC4AAAAusPIrFAAAAAEAAAAAyYlvMQAAAADLVHQgAAAAAM/u9uZ4nGNgZGBg4ANiCQYQYGJgBEJuIGYB8xgABMMAPgAAAHicY2Bm42OcwMDKwMLSw2LMwMDQBqGZihmiwHycoKCyqJjB4YPDh4NsDP+BfNb3DIuAFCOSEgUGRgAKDgt4AAB4nGNgYGBmgGAZBkYGEAgB8hjBfBYGCyDNxcDBwMTA9MHhQ9SHrA8H//9nYACyQyFs/sP86/kX8HtB9UIBIxsDXICRCUgwMaACRoZhDwA3fxKSAAAAAAHyAHABJQB/AIEAdAFGAOsBIwC/ALgAxACGAGYAugBNACcA/wCIeJxdUbtOW0EQ3Q0PA4HE2CA52hSzmZDGe6EFCcTVjWJkO4XlCGk3cpGLcQEfQIFEDdqvGaChpEibBiEXSHxCPiESM2uIojQ7O7NzzpkzS8qRqnfpa89T5ySQwt0GzTb9Tki1swD3pOvrjYy0gwdabGb0ynX7/gsGm9GUO2oA5T1vKQ8ZTTuBWrSn/tH8Cob7/B/zOxi0NNP01DoJ6SEE5ptxS4PvGc26yw/6gtXhYjAwpJim4i4/plL+tzTnasuwtZHRvIMzEfnJNEBTa20Emv7UIdXzcRRLkMumsTaYmLL+JBPBhcl0VVO1zPjawV2ys+hggyrNgQfYw1Z5DB4ODyYU0rckyiwNEfZiq8QIEZMcCjnl3Mn+pED5SBLGvElKO+OGtQbGkdfAoDZPs/88m01tbx3C+FkcwXe/GUs6+MiG2hgRYjtiKYAJREJGVfmGGs+9LAbkUvvPQJSA5fGPf50ItO7YRDyXtXUOMVYIen7b3PLLirtWuc6LQndvqmqo0inN+17OvscDnh4Lw0FjwZvP+/5Kgfo8LK40aA4EQ3o3ev+iteqIq7wXPrIn07+xWgAAAAABAAH//wAPeJyFlctvG1UUh+/12DPN1B7P3JnYjj2Ox4/MuDHxJH5N3UdaEUQLqBIkfQQioJWQ6AMEQkIqsPGCPwA1otuWSmTBhjtps2ADWbJg3EpIXbGouqSbCraJw7kzNo2dRN1cnXN1ZvT7zuuiMEI7ncizyA0URofRBJpCdbQuIFShYY+GZRrxMDVtih5TwQPHtXDFFSIKoWIbuREBjLH27Ny4MsbVx+uOJThavebgVrNRLAiYx06rXsvhxLgWx9xpfHdrs/ekc2Pl2cpPCVEITQpwbj8VQhfXSq2m+Wxqaq2D73Kne5e3NjHqQNj3CRYlJlgUl/jRNP+2Gs2pNYRQiOnmUaQDqm30KqKiTTWPWjboxnTWpvgxjXo0KrtZXAHt7hwIz0YVcj88JnKlJKi3NPAwLyDwZudSmJSMMJFDYaOkaol6XtESx3Gt1VTytdZJ3DCLeaVhVnCBH1fycHTxFXwPX+l2e3d6H/TufGGmMTLTnbSJUdo00zuBswMO/nl3YLeL/wnu9/limCuD3vC54h5NBVz6Li414AI8Vx3iiosKcQXUbrvhFFiYb++HN4DaF4XzFW0fIN4XDWJ3a3XQoq9V8WiyRmdsatV9xUcHims1JloH0YUa090G3Tro3mC6c01f+YwCPquINr1PTaCP6rVTOOmf0GE2dBc7zWIhji3/5MchSuBHgDbU99RMWt3YUNMZMJmx92YP6NsHx/5/M1yvInpnkIOM3Z8fA3JQ2lW1RFC1KaBPDFXNAHYYvGy73aYZZZ3HifbeuiVZCpwA3oQBs0wGPYJbJfg60xrKEbKiNtTe1adwrpBRwlAuQ3q3VRaX0QmQ9a49BTSCuF1MLfQ6+tinOubRBZuWPNoMevGMT+V41KitO1is3D/tpMcq1JHZqDHGs8DoYGDkxJgKjHROeTCmhZvzPm9pod+ltKm4PN7Dyvvldlpsg8D+4AUJZ3F/JBstZz7cbFRxsaAGV6yX/dkcycWf8eS3QlQea+YLjdm3yrOnrhFpUyKVvFE4lpv4bO3Svx/6F/4xmiDu/RT5iI++lko18mY1oX+5UGKR6kmVjM/Zb76yfHtxy+h/SyQ0lLdpdKy/lWB6szatetQJ8nZ80A2Qt6ift6gJeavU3BO4gtxs/KCtNPVibCtYCWY3SIlSBPKXZALXiIR9oZeJ1AuMyxLpHIy/yO7vSiSE+kZvk0ihJ30HgHfzZtEMmvV58x6dtqns0XTAW7Vdm4HJ04OCp/crOO7rd9SGxQAE/mVA9xRN+kVSMRFF6S9JFGUtthkjBA5tFCWc2l4V43Ex9GmUP3SI37Jjmir9KqlaDJ4S4JB3vuM/jzyH1+8MuoZ+QGzfnvPoJb96cZlWjMcKLfgDwB7E634JTY+asjsPzS5CiVnEWY+KsrsIN5rn3mAPjqmQBxGjcGKB9f9ZxY3mYC2L85CJ2FXIxKKyHk+dg0FHbuEc7D5NzWUX32WxFcWNGRAbvwSx0RmIXVDuYySafluQBmzA/ssqJAMLnli+WIC90Gw4lm85wcp0qjArEDPJJV/sSx4P9ungTpgMw5gVC1XO4uULq0s3v1rqLi0vX/z65vlH50f8T/RHmSPTk5xxWBWOluMT6WiOy+tdvWxlV/XQb3o3c6Ssr+r6I708GsX9/nzp1tKFh0s3v7m4vAy/Hnb/KMOvc1wump6Il48K6mGDy02X9Yd65pa+nQIjk76lWxCkG8NBCP0HQS9IpAAAeJxjYGRgYGBhcCrq214Qz2/zlUGenQEEzr/77oug/zewFbB+AHI5GJhAogBwKQ0qeJxjYGRgYH3/P46BgZ0BBNgKGBgZUAEPAE/7At0AAAB4nGNngAB2IGYjhBsYBAAIYADVAAAAAAAAAAAAAFwAyAEeAaACCgKmAx4DggRmAAAAAQAAAAwAagAEAAAAAAACAAEAAgAWAAABAAChAAAAAHiclZI7bxQxFIWPd/JkUYQChEhIyAVKgdBMskm1QkKrRETpQiLRUczueB/K7HhlOxttg8LvoKPgP9DxFxANDR0tHRWi4NjrPIBEgh1p/dm+vufcawNYFWsQmP6e4jSyQB2fI9cwj++RE9wTjyPP4LYoI89iWbyLPIe6+Bh5Hs9rryMv4GbtW+RF3EhuRa7jbrIbeQkPkjdUETOLnL0Kip4FVvAhco1RXyMnSPEz8gzWxE7kWTwUp5HnsCLeR57HW/El8gJWa58iL+JO7UfkOh4l9yMv4UnyEtvQGGECgwF66MNBooF1bGCL1ELB/TYU+ZBRlvsKQ44Se6jQ4a7hef+fh72Crv25kp+8lNWGmeKoOI5jJLb1aGIGvb6TjfWNLdkqdFvJw4l1amjlXtXRZqRN7lSRylZZyhBqpVFWmTEXgWfUrpi/hZOQXdOd4rKuXOtEWT3k5IArPRzTUU5tHKjecZkTpnVbNOnt6jzN8240GD4xtikvZW56043rPMg/dS+dlOceXoR+WPbJ55Dsekq1lJpnypsMUsYOdCW30o103Ytu/lvh+5RWFLfBjm9/N8hJntPhvx92rnoE/kyHdGasGy754kw36vsVf/lFeBi+0COu+cfgQr42G3CRpeLoZ53gmfe3X6rcKt5oVxnptHR9JS8ehVUd5wvvahN2uqxOOpMXapibI5k7Zwbt4xBSaTfoKBufhAnO/uqNcfK8OTs0OQ6l7JIqFjDhYj5WcjevCnI/1DDiI8j4ndWb/5YzDZWh79yomWXeXj7Nnw70/2TIeFPTrlSh89k1ObOSRVZWZfgF0r/zJQB4nG2JUQuCQBCEd07TTg36fb2IyBaLd3vWaUh/vmSJnvpgmG8YcmS8X3Shf3R7QA4OBUocUKHGER5NNbOOEvwc1txnuWkTRb/aPjimJ5vXabI+3VfOiyS15UWvyezM2xiGOPyuMohOH8O8JiO4Af+FsAGNAEuwCFBYsQEBjlmxRgYrWCGwEFlLsBRSWCGwgFkdsAYrXFhZsBQrAAA=) format('woff');
}
/* Body */
html { font-size: 100%; overflow-y: scroll; -webkit-text-size-adjust: 100%; -ms-text-size-adjust: 100%; }
body{
color:#4d4d4c;
font-family:Georgia, Palatino, 'Palatino Linotype', Times, 'Times New Roman',
"Hiragino Sans GB", "STXihei", "微软雅黑", serif;
font-size:12px;
line-height:1.5em;
background:#fefefe;
width: 45em;
margin: 10px auto;
padding: 30px;
border: 1px solid #ddd;
outline: 1300px solid #f8f8f8;
}
/* Links */
a{ color: #06d; text-decoration:none; }
a:hover{ color: #06e; text-decoration: underline; }
a:active{ color:#faa700; }
a:focus{ outline: thin dotted; }
a:hover, a:active{ outline: 0; }
::-moz-selection { background:#a8d1ff; color:#000 }
::selection { background:#a8d1ff; color:#000 }
a::-moz-selection { background:#a8d1ff; color:#0645ad }
a::selection { background:#a8d1ff; color:#0645ad }
/* Header Anchor Links*/
.headeranchor-link {
color:#111;
border: 0;
margin-left: -20px;
padding-right: 6px;
cursor: pointer;
position: absolute;
display: block;
top: 0;
left: 0;
bottom: 0;
}
.headeranchor {
font: normal normal 16px octicons-anchor;
line-height: 1;
-moz-osx-font-smoothing: grayscale;
-webkit-user-select: none;
-moz-user-select: none;
-ms-user-select: none;
user-select: none;
}
.headeranchor-link:hover,
.headeranchor-link:visited,
.headeranchor-link:active
{ text-decoration: none; color:#4d4d4c; }
.headeranchor-link:hover .headeranchor:before,
h1:hover .headeranchor:before,
h2:hover .headeranchor:before,
h3:hover .headeranchor:before,
h4:hover .headeranchor:before,
h5:hover .headeranchor:before,
h6:hover .headeranchor:before
{ content: '\f05c'; }
abbr { cursor: pointer; }
/* Paragraphs */
p { margin:1em 0; }
/* Images */
img {
max-width:100%;
border: 0;
-ms-interpolation-mode: bicubic;
vertical-align: middle;
}
/* Headers */
h1,h2,h3,h4,h5,h6 {
font-weight:normal;
color:#111;
line-height: 1.7;
position: relative;
}
h4,h5,h6{ font-weight: bold; }
h1 { font-size:2.5em; border-bottom: 1px solid #ddd;}
h2 { font-size:2em; border-bottom:1px solid #eee; padding-bottom: 5px; }
h3 { font-size:1.5em; }
h4 { font-size:1.2em; }
h5 { font-size:1em; }
h6 { font-size:0.9em; }
/* Block Quotes */
blockquote {
color:#666666;
margin:0;
padding-left: 3em;
border-left: 0.5em #EEE solid;
}
hr { display: block; height: 2px; border: 0; border-top: 1px solid #aaa;border-bottom: 1px solid #eee; margin: 1em 0; padding: 0; }
/* Raw Blocks */
pre, code, kbd, samp {
color: #000;
font-family: Consolas, "Liberation Mono", Menlo, Courier, monospace;
-webkit-border-radius: 3px;
-moz-border-radius: 3px;
border-radius: 3px;
font-size: 0.88em;
background-color: #F8F8F8;
border: 1px solid #CCC;
}
pre {
padding: 10px;
overflow: auto;
}
code { padding: 0 3px 0 3px; }
pre code { border: 0; padding: 0; }
/* Admonition */
.admonition {
-webkit-border-radius: 3px;
-moz-border-radius: 3px;
border-radius: 3px;
font-size: 0.88em;
padding: 0.5em 1em 0.5em 1em;
margin: 10px auto;
color: #888888;
background-color: #F8F8F8;
border: 1px solid #888888;
}
.admonition p { padding: 0; margin: 0; }
.admonition-title { font-weight: bold; margin: 0; }
.admonition-icon {
font: normal normal 16px fontawesome-mini;
line-height: 1.5;
-moz-osx-font-smoothing: grayscale;
-webkit-user-select: none;
-moz-user-select: none;
-ms-user-select: none;
user-select: none;
float: left;
}
.admonition.attention { color: #4F8A10; background-color: #DFF2BF; border: 1px solid #4F8A10; }
.admonition.caution { color: #D63301; background-color: #FFCCBA; border: 1px solid #D63301; }
.admonition.hint { color: #00529B; background-color: #BDE5F8; border: 1px solid #00529B; }
.admonition.danger { color: #D8000C; background-color: #FFBABA; border: 1px solid #D8000C; }
.admonition.question { color: #00049b; background-color: #BDC8F8; border: 1px solid #00049b; }
.admonition.note { color: #9F6000; background-color: #FEEFB3; border: 1px solid #9F6000; }
.attention > .admonition-icon:before { content: "\f058\00a0"; }
.caution > .admonition-icon:before { content: "\f06a\00a0"; }
.hint > .admonition-icon:before { content: "\f05a\00a0"; }
.danger > .admonition-icon:before { content: "\f056\00a0"; }
.question > .admonition-icon:before { content: "\f059\00a0"; }
.note > .admonition-icon:before { content: "\f040\00a0"; }
/* progress bar*/
.progress {
display: block;
width: 300px;
margin: 10px 0;
height: 24px;
border: 1px solid #ccc;
-webkit-border-radius: 3px;
-moz-border-radius: 3px;
border-radius: 3px;
background-color: #F8F8F8;
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</style><title>README</title></head><body><h1 id="husky-pursuit"><a name="user-content-husky-pursuit" href="#husky-pursuit" class="headeranchor-link" aria-hidden="true"><span class="headeranchor"></span></a>Husky Pursuit</h1>
<p>The husky_pursuit package implements Pursuit and Evasion behaviors for ROS Robots and simulation.<br />
The project was built during the summer of 2014 at the Naval Postgraduate School</p>
<h2 id="description-of-project-contents"><a name="user-content-description-of-project-contents" href="#description-of-project-contents" class="headeranchor-link" aria-hidden="true"><span class="headeranchor"></span></a>Description of project contents</h2>
<pre><code>─ scripts-----------------------------------Meat of the package
==================================Behaviors:
├── pure_seek.py--------------------------Move toward a goal relative position based on input (distance, bearing)
├── pure_flee.py--------------------------Move away given a RelativePosition (distance, bearing)
├── pursue.py-----------------------------Extrap
├── evade.py
├── offset_pursue.py
├── serpentine.py-------------------------Weave back and forth
├── wander.py-----------------------------Seek a random position
==================================
├── encoder_frame_remapper.py-------------Remap from encoder to odom, changing the frame id and child frame id for RViz vizualization of odometry
├── pose2d_to_odometry.py-----------------Wraps geometry_msgs/Pose2D as nav_msgs/Odometry for use with robot_pose_ekf (Pose2D from laser_scan_matcher)
├── safety_controller.py
├── tf_to_relative.py
├── utils.py------------------------------Mathematical utility methods
==================================Gun interface and robot control:
├── phidget_driver.py---------------------Uses phidgets.py. Subs to status/fire and fires on true. Pubs status/heath based on digital input.
├── phidgets.py---------------------------Uses the Phidget Python API to expose an interface kit object (Phidget 8/8/8 IO board)
├── shooter.py----------------------------Accepts RelativePosition messages and auto-fires when tolerances are met
├── manual_shooter.py---------------------Manually shoot with joystick trigger as long as the joy topic is published
├── leap_control.py-----------------------Control of the robot with the Leap Motion. Uses the official Python SDK
==================================Older files, not used/finished:
└── get_data.py---------------------------Unused. Gets transform data from gazebo, stage etc. Replaced with tf_to_relative.py and RelativePosition.
├── goal_publisher.py---------------------Skeleton from original navigation stack architecture
├── state_publisher.py
├── model_spawner.sh
├── gmapping.bash
─ launch
├── amcl.launch
├── bringup.launch
├── camera
│ ├── ar_track.launch-------------------
│ └── camera.launch---------------------UVC camera launch. Can be included in launch/game/robot.launch, commented out as imagery is currently mostly unused
├── desktop
│ ├── desktop.launch
│ ├── sim.launch
│ └── viz.launch
├── game----------------------------------Physical robot launch files. Indentation represents include structure, but this directory is flat.
│ ├── system.launch---------------------Main launch for physical robot usage. Run this on your local machine after launching roscore on robot_0
│ ├── 1 husky.machine
│ ├── 2 arbiter.launch---------------Sets up initial “arena” with static transforms from world to robot_<num>/base_footprint. The format of this is args=”x y z roll pitch yaw”
│ ├── 1 dashboard.launch
│ ├── 3 robot.launch----------------------At the moment, the camera include is commented out to avoid bogging down the network, but is functional if included.
│ ├── 1 base.launch
│ ├── 4 tf_to_relative.launch
│ ├── 5 safety_controller.launch
│ ├── 6 behaviors.launch
│ ├── 7 gun.launch
├── gmapping.launch
├── gmapping_scan_matcher.launch
├── laser_splitter.launch
├── lms5xx.launch
├── localization.launch
├── pose.launch
├── scan_matcher.launch
├── simul
│ ├── behaviors-------------------------Testbed launches comparing behaviors in simulation. <0 behavior>_<1 behavior>[_<2 behavior>].launch. Run in concert with stage.launch
│ │ ├── evade_control_flee.launch
│ │ ├── evade_pursue.launch
│ │ ├── evade_pursue_wander.launch
│ │ ├── flee_wander.launch
│ │ ├── offset_pursue_control.launch
│ │ ├── pursue_control.launch
│ │ ├── pursue_control_seek.launch
│ │ ├── pursue_serpentine.launch
│ │ ├── seek_control_flee.launch
│ │ ├── seek_serpentine_flee.launch
│ │ ├── seek_serpentine.launch
│ │ └── seek_wander.launch
│ ├── control.launch
│ ├── four_sim.launch
│ ├── one_husky.launch
│ ├── robots2.launch
│ ├── robots4.launch
│ ├── robots.launch
│ ├── spawn_model.launch
│ ├── stage.launch
│ ├── stage_sky.launch
│ ├── two_sim.launch
│ └── unified_control.launch
└── teleop
├── key_teleop.launch-----------------Depends on installation of the kobuki-keyop package (robot specific, but velocities are remapped to the husky topic).
├── joystick.launch-------------------Drive husky and shoot laser tag guns with a joystick. Includes manual shooter.py. To drive, hold the deadman button, and to shoot press the trigger.
└── leap_teleop.launch----------------
─ maps--------------------------------------Maps generated with Gmapping at the Naval Postgraduate School
├── <map files>
─ msg
└── RelativePosition.msg------------------Message used by the pure_seek, pure_flee and shooter nodes. Generated by tf_to_relative or <build your own new localization node>!
─ rviz
├── huskies.rviz--------------------------Physical robot system vizualization config. Used in launch/game/dashboard.launch to launch RViz.
├── navigation.rviz
├── robot_0.perspective-------------------rqt (‘rosrun rqt_gui rqt_gui’ or ‘rqt’) configuration
└── stage.rviz----------------------------Simuation visualization configuration for 3 robots for RViz
─ worlds------------------------------------Stage world definitions
├── sky.world-----------------------------For mocked wing UAVs. More just experimental
├── square.png
└── square.world--------------------------Main world simulation setup. Open, but boxed playing field with 3 robots (0, 1, 2)
─ setup.py
─ package.xml
─ README.md
12 directories, 114 files</code></pre>
<h2 id="general-usage"><a name="user-content-general-usage" href="#general-usage" class="headeranchor-link" aria-hidden="true"><span class="headeranchor"></span></a>General usage</h2>
<h3 id="stage-behavior-simulation"><a name="user-content-stage-behavior-simulation" href="#stage-behavior-simulation" class="headeranchor-link" aria-hidden="true"><span class="headeranchor"></span></a>Stage behavior simulation</h3>
<p>Set up your environment variables (<code>ROS_HOSTNAME</code> and <code>ROS_MASTER_URI</code>) for a local master as per the ROS wiki.<br />
To toggle to a local master for just the current terminal, run<br />
export ROS_HOSTNAME=<code>hostname -I</code>; export ROS_MASTER_URI=http://$ROS_HOSTNAME:11311<br />
If you followed the NPS ARSENL Yoda wiki for Robotic Laser tag to set up your environment variables, you should that aliased to <code>local_ros</code>, which I recommend you set if you are going to be toggling between physical and simulated robots. Otherwise, feel free to set those variables to localhost for pure simulation.</p>
<p>Launch Stage in one terminal (automatically starts roscore):<br />
roslaunch husky_pursuit stage.launch</p>
<p>Run a behavior in another terminal:<br />
roslaunch husky_pursuit seek_control_flee.launch<br />
See the <code>Description of project contents</code> section for the game behavior launches. With a control launch, use a joystick plugged into your computer.</p>
<h3 id="physical-robot"><a name="user-content-physical-robot" href="#physical-robot" class="headeranchor-link" aria-hidden="true"><span class="headeranchor"></span></a>Physical robot</h3>
<p>First:<br />
ssh ros@192.168.1.125<br />
roscore<br />
Then:<br />
roslaunch husky_pursuit system.launch<br />
You can select the behaviors in system.launch when including behaviors.launch, as well as configure max linear and angular speed.</p>
<p>Recommended - also run <code>rqt_console</code> to monitor log messages and possibly <code>rqt_graph</code> to view node and topic connections.</p>
<h2 id="future-work"><a name="user-content-future-work" href="#future-work" class="headeranchor-link" aria-hidden="true"><span class="headeranchor"></span></a>Future work</h2>
<p>These are potential future work opportunities, but are not all-inclusive by any means.</p>
<h3 id="architecture"><a name="user-content-architecture" href="#architecture" class="headeranchor-link" aria-hidden="true"><span class="headeranchor"></span></a>Architecture</h3>
<p>Convert system to use rocon-multimaster for hydro.<br />
Dynamic reconfigure/parameter server support for nodes, especially the behaviors.<br />
Split behaviors off into a steering_behaviors package - this is a specialized usage of that</p>
<h2 id="troubleshooting"><a name="user-content-troubleshooting" href="#troubleshooting" class="headeranchor-link" aria-hidden="true"><span class="headeranchor"></span></a>Troubleshooting</h2>
<h3 id="joystick-not-working"><a name="user-content-joystick-not-working" href="#joystick-not-working" class="headeranchor-link" aria-hidden="true"><span class="headeranchor"></span></a>Joystick not working</h3>
<p>If you have a CH Products flightstick, try running:<br />
sudo lsusb -v<br />
Check joystick output with:<br />
jstest /dev/input/js0</p></body></html>