From 64b36dd5d4682ea2ae2dfd6b644b2fad12e9811e Mon Sep 17 00:00:00 2001 From: Jelmer de Wolde Date: Wed, 2 Oct 2024 11:43:51 +0000 Subject: [PATCH] Add gamepad support. Signed-off-by: Jelmer de Wolde --- rcdt_panther/config/ros_controller.yaml | 2 +- rcdt_panther/launch/panther.launch.py | 6 ++++++ 2 files changed, 7 insertions(+), 1 deletion(-) diff --git a/rcdt_panther/config/ros_controller.yaml b/rcdt_panther/config/ros_controller.yaml index 89e105c..d1a1144 100644 --- a/rcdt_panther/config/ros_controller.yaml +++ b/rcdt_panther/config/ros_controller.yaml @@ -15,4 +15,4 @@ diff_drive_controller: wheel_separation: 0.697 wheel_radius: 0.1825 - use_stamped_vel: false + use_stamped_vel: true diff --git a/rcdt_panther/launch/panther.launch.py b/rcdt_panther/launch/panther.launch.py index a956326..33f1df7 100644 --- a/rcdt_panther/launch/panther.launch.py +++ b/rcdt_panther/launch/panther.launch.py @@ -45,6 +45,11 @@ def launch_setup(context: LaunchContext) -> None: launch_arguments={"rviz_frame": "odom"}.items(), ) + gamepad = Node( + package="rcdt_utilities", + executable="gamepad_node.py", + ) + skip = LaunchDescriptionEntity() return [ SetParameter(name="use_sim_time", value=True), @@ -53,6 +58,7 @@ def launch_setup(context: LaunchContext) -> None: joint_state_broadcaster, controllers, rviz if run_rviz_arg.value(context) else skip, + gamepad, ]