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Add gamepad support. #1

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merged 1 commit into from
Oct 4, 2024
Merged

Add gamepad support. #1

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2 changes: 1 addition & 1 deletion rcdt_panther/config/ros_controller.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -15,4 +15,4 @@ diff_drive_controller:
wheel_separation: 0.697
wheel_radius: 0.1825

use_stamped_vel: false
use_stamped_vel: true
6 changes: 6 additions & 0 deletions rcdt_panther/launch/panther.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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),
Expand All @@ -53,6 +58,7 @@ def launch_setup(context: LaunchContext) -> None:
joint_state_broadcaster,
controllers,
rviz if run_rviz_arg.value(context) else skip,
gamepad,
]


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