diff --git a/catkin_ws/src/joystick_ros/CMakeLists.txt b/catkin_ws/src/joystick_ros/CMakeLists.txt
new file mode 100644
index 0000000..51dc825
--- /dev/null
+++ b/catkin_ws/src/joystick_ros/CMakeLists.txt
@@ -0,0 +1,206 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(joystick_ros)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+ roscpp
+ rospy
+ std_msgs
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+## * add a build_depend tag for "message_generation"
+## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+## but can be declared for certainty nonetheless:
+## * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+## * add "message_generation" and every package in MSG_DEP_SET to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * add "message_runtime" and every package in MSG_DEP_SET to
+## catkin_package(CATKIN_DEPENDS ...)
+## * uncomment the add_*_files sections below as needed
+## and list every .msg/.srv/.action file to be processed
+## * uncomment the generate_messages entry below
+## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+# FILES
+# Message1.msg
+# Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+# FILES
+# Service1.srv
+# Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+# FILES
+# Action1.action
+# Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+# DEPENDENCIES
+# std_msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+## * add "dynamic_reconfigure" to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * uncomment the "generate_dynamic_reconfigure_options" section below
+## and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+# cfg/DynReconf1.cfg
+# cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+# INCLUDE_DIRS include
+# LIBRARIES joystick_ros
+# CATKIN_DEPENDS roscpp rospy std_msgs
+# DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+ ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+# src/${PROJECT_NAME}/joystick_ros.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/joystick_ros_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+# ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+# scripts/my_python_script
+# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+# FILES_MATCHING PATTERN "*.h"
+# PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+# # myfile1
+# # myfile2
+# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_joystick_ros.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/catkin_ws/src/joystick_ros/package.xml b/catkin_ws/src/joystick_ros/package.xml
new file mode 100644
index 0000000..834b245
--- /dev/null
+++ b/catkin_ws/src/joystick_ros/package.xml
@@ -0,0 +1,68 @@
+
+
+ joystick_ros
+ 0.0.0
+ The joystick_ros package
+
+
+
+
+ maryne-dey
+
+
+
+
+
+ TODO
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ catkin
+ roscpp
+ rospy
+ std_msgs
+ roscpp
+ rospy
+ std_msgs
+ roscpp
+ rospy
+ std_msgs
+
+
+
+
+
+
+
+
diff --git a/catkin_ws/src/joystick_ros/src/parser.cpp b/catkin_ws/src/joystick_ros/src/parser.cpp
new file mode 100644
index 0000000..a072ffc
--- /dev/null
+++ b/catkin_ws/src/joystick_ros/src/parser.cpp
@@ -0,0 +1,46 @@
+#include
+#include
+#include
+#include
+
+// Declare global variables to store Axis values
+float axis0_value = 0.0;
+float axis1_value = 0.0;
+
+void serial_data_callback(const std_msgs::String::ConstPtr& msg) {
+ // Parse received string message
+ std::string data_str = msg->data;
+ if (data_str.find("Axis0") != std::string::npos) {
+ // Extract value for Axis0
+ axis0_value = std::stof(data_str.substr(data_str.find(":") + 1));
+ } else if (data_str.find("Axis1") != std::string::npos) {
+ // Extract value for Axis1
+ axis1_value = std::stof(data_str.substr(data_str.find(":") + 1));
+ }
+
+ // If both Axis0 and Axis1 values are available, publish them together
+ if (axis0_value != 0.0 && axis1_value != 0.0) {
+ std_msgs::Float32MultiArray float_array_msg;
+ float_array_msg.data.push_back(axis0_value);
+ float_array_msg.data.push_back(axis1_value);
+ axis_values_pub.publish(float_array_msg);
+ }
+}
+
+int main(int argc, char** argv) {
+ // Initialize ROS node
+ ros::init(argc, argv, "serial_data_parser");
+ ros::NodeHandle nh;
+
+ // Subscribe to serial data topic
+ ros::Subscriber sub = nh.subscribe("serial_data", 10, serial_data_callback);
+
+ // Initialize publisher for Axis values
+ ros::Publisher axis_values_pub = nh.advertise("axis_values", 10);
+
+ // Spin ROS node
+ ros::spin();
+
+ return 0;
+}
+
diff --git a/catkin_ws/src/joystick_ros/src/position_ctrl.cpp b/catkin_ws/src/joystick_ros/src/position_ctrl.cpp
new file mode 100644
index 0000000..bac53f8
--- /dev/null
+++ b/catkin_ws/src/joystick_ros/src/position_ctrl.cpp
@@ -0,0 +1,70 @@
+#include
+#include
+#include
+
+// Constants
+const float DEAD_ZONE = 5.0; // Dead zone in percentage (0 to 100)
+const float MAX_SPEED = 1.0; // Maximum speed of the plate
+
+// Global variables
+float y_position = 0.0; // Initial y position
+float prev_time = 0.0; // Previous time
+float direction = 0.0; // Direction of movement
+
+void joystick_axis_callback(const std_msgs::Float32MultiArray::ConstPtr& msg) {
+ // Extract joystick x and y positions
+ float x_joystick = msg->data[0];
+ float y_joystick = msg->data[1];
+
+ // Determine direction based on joystick position
+ if (std::abs(x_joystick) < DEAD_ZONE) {
+ direction = 0.0; // Joystick in dead zone, no movement
+ } else {
+ direction = (x_joystick > 0) ? 1.0 : -1.0; // Joystick outside dead zone, set direction accordingly
+ }
+
+ // Calculate speed based on joystick position
+ float speed = MAX_SPEED * std::abs(x_joystick) / 100.0;
+
+ // Calculate time elapsed since last callback
+ float current_time = ros::Time::now().toSec();
+ float time_elapsed = current_time - prev_time;
+
+ // Calculate change in y position
+ y_position = y_position + time_elapsed * speed * direction;
+
+ // Store current time for next iteration
+ prev_time = current_time;
+
+ // Publish robot position in a point format
+ geometry_msgs::Point position_cmd;
+ position_cmd.x = 65.0; // Fixed x-coordinate
+ position_cmd.y = y_position;
+ position_cmd.z = 0.0; // Assuming z-coordinate is not used
+
+ // Publish position command
+ ros::NodeHandle nh;
+ ros::Publisher position_cmd_pub = nh.advertise("/position_cmd", 10);
+ position_cmd_pub.publish(position_cmd);
+}
+
+int main(int argc, char** argv) {
+ // Initialize ROS node
+ ros::init(argc, argv, "joystick_to_robot_converter");
+ ros::NodeHandle nh;
+
+ // Subscribe to joystick axis values topic
+ ros::Subscriber joystick_sub = nh.subscribe("joystick_axis_values", 10, joystick_axis_callback);
+
+ // Initialize y position
+ y_position = 0.0;
+
+ // Initialize previous time
+ prev_time = ros::Time::now().toSec();
+
+ // Spin ROS node
+ ros::spin();
+
+ return 0;
+}
+
diff --git a/catkin_ws/src/joystick_ros/src/readSerial.cpp b/catkin_ws/src/joystick_ros/src/readSerial.cpp
new file mode 100644
index 0000000..3a42923
--- /dev/null
+++ b/catkin_ws/src/joystick_ros/src/readSerial.cpp
@@ -0,0 +1,51 @@
+#include
+#include
+#include
+#include // Make sure to include the serial library, install using "sudo apt install ros-$ROS_DISTRO-serial"
+
+void readSerial(const std::string& port, uint32_t baud_rate) {
+ serial::Serial ser;
+ ser.setPort(port);
+ ser.setBaudrate(baud_rate);
+
+ try {
+ ser.open();
+ } catch (const std::exception& e) {
+ ROS_ERROR_STREAM("Failed to open serial port " << port << ": " << e.what());
+ return;
+ }
+
+ ros::NodeHandle nh;
+ ros::Publisher serial_pub = nh.advertise("serial_data", 10);
+
+ ROS_INFO_STREAM("Reading from serial port " << port);
+
+ while (ros::ok()) {
+ if (ser.available()) {
+ std_msgs::String msg;
+ msg.data = ser.readline();
+ ROS_INFO_STREAM("Received data: " << msg.data);
+ serial_pub.publish(msg);
+ }
+ ros::spinOnce();
+ ros::Duration(0.1).sleep(); // Sleep for 0.1 second
+ }
+
+ ser.close();
+}
+
+int main(int argc, char** argv) {
+ ros::init(argc, argv, "serial_reader");
+
+ if (argc != 3) {
+ ROS_ERROR("Usage: rosrun your_package_name serial_reader ");
+ return 1;
+ }
+
+ std::string port = "COM14";
+ uint32_t baud_rate = 9600;
+
+ readSerial(port, baud_rate);
+
+ return 0;
+}