From 1ce23b19037764fc83d97b84af2d6c6b2f0a0fc6 Mon Sep 17 00:00:00 2001
From: alan le run <alan.lerun@gmail.com>
Date: Fri, 22 Dec 2023 08:48:10 +0100
Subject: [PATCH]  joystick and launch file

---
 src/ezbot_descr_simul/config/joystick.yaml    | 14 ++++++
 .../launch/joystick.launch.py                 | 45 +++++++++++++++++++
 2 files changed, 59 insertions(+)
 create mode 100644 src/ezbot_descr_simul/config/joystick.yaml
 create mode 100644 src/ezbot_descr_simul/launch/joystick.launch.py

diff --git a/src/ezbot_descr_simul/config/joystick.yaml b/src/ezbot_descr_simul/config/joystick.yaml
new file mode 100644
index 0000000..d80d497
--- /dev/null
+++ b/src/ezbot_descr_simul/config/joystick.yaml
@@ -0,0 +1,14 @@
+teleop_twist_joy_node:
+  ros__parameters:
+    axis_linear:
+      x: 1
+      y: 0
+    scale_linear:
+      x: 1.0
+      y: -1.0
+    axis_angular:
+      yaw: 3
+    scale_angular:
+      yaw: 1.0
+    enable_button: 5
+    enable_turbo_button: 8
\ No newline at end of file
diff --git a/src/ezbot_descr_simul/launch/joystick.launch.py b/src/ezbot_descr_simul/launch/joystick.launch.py
new file mode 100644
index 0000000..e8c42b6
--- /dev/null
+++ b/src/ezbot_descr_simul/launch/joystick.launch.py
@@ -0,0 +1,45 @@
+
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.substitutions import LaunchConfiguration
+from launch.actions import DeclareLaunchArgument
+
+import os
+from ament_index_python.packages import get_package_share_directory
+
+def generate_launch_description():
+    use_sim_time = LaunchConfiguration('use_sim_time')
+
+    joy_params = os.path.join(get_package_share_directory('ezbot_descr_simul'),'config','joystick.yaml')
+
+    joy_node = Node(
+            package='joy',
+            executable='joy_node',
+            parameters=[joy_params, {'use_sim_time': use_sim_time}],
+         )
+
+    teleop_node = Node(
+            package='teleop_twist_joy',
+            executable='teleop_twist_joy',
+            name='teleop_twist_joy',
+            parameters=[joy_params, {'use_sim_time': use_sim_time}]
+         )
+
+    # twist_stamper = Node(
+    #         package='twist_stamper',
+    #         executable='twist_stamper',
+    #         parameters=[{'use_sim_time': use_sim_time}],
+    #         remappings=[('/cmd_vel_in','/diff_cont/cmd_vel_unstamped'),
+    #                     ('/cmd_vel_out','/diff_cont/cmd_vel')]
+    #      )
+
+
+    return LaunchDescription([
+        DeclareLaunchArgument(
+            'use_sim_time',
+            default_value='true',
+            description='Use sim time if true'),
+        joy_node,
+        teleop_node,
+        # twist_stamper
+    ])
\ No newline at end of file