fix(joy_controller): joy_type is only set from the param.yaml file (a…

…utowarefoundation#6475)

Signed-off-by: M. Fatih Cırıt <[email protected]>

control/joy_controller/README.md

@@ -4,6 +4,21 @@
 
 `joy_controller` is the package to convert a joy msg to autoware commands (e.g. steering wheel, shift, turn signal, engage) for a vehicle.
 
+## Usage
+
+### ROS 2 launch
+
+```bash
+# With default config (ds4)
+ros2 launch joy_controller joy_controller.launch.xml
+
+# Default config but select from the existing parameter files
+ros2 launch joy_controller joy_controller_param_selection.launch.xml joy_type:=ds4 # or g29, p65, xbox
+
+# Override the param file
+ros2 launch joy_controller joy_controller.launch.xml config_file:=/path/to/your/param.yaml
+```
+
 ## Input / Output
 
 ### Input topics

control/joy_controller/config/joy_controller.param.yaml → control/joy_controller/config/joy_controller_ds4.param.yaml

@@ -1,6 +1,6 @@
 /**:
   ros__parameters:
-    joy_type: $(var joy_type)
+    joy_type: DS4
     update_rate: 10.0
     accel_ratio: 3.0
     brake_ratio: 5.0

control/joy_controller/config/joy_controller_g29.param.yaml

@@ -0,0 +1,16 @@
+/**:
+  ros__parameters:
+    joy_type: G29
+    update_rate: 10.0
+    accel_ratio: 3.0
+    brake_ratio: 5.0
+    steer_ratio: 0.5
+    steering_angle_velocity: 0.1
+    accel_sensitivity: 1.0
+    brake_sensitivity: 1.0
+    control_command:
+      raw_control: false
+      velocity_gain: 3.0
+      max_forward_velocity: 20.0
+      max_backward_velocity: 3.0
+      backward_accel_ratio: 1.0

control/joy_controller/config/joy_controller_p65.param.yaml

@@ -0,0 +1,16 @@
+/**:
+  ros__parameters:
+    joy_type: P65
+    update_rate: 10.0
+    accel_ratio: 3.0
+    brake_ratio: 5.0
+    steer_ratio: 0.5
+    steering_angle_velocity: 0.1
+    accel_sensitivity: 1.0
+    brake_sensitivity: 1.0
+    control_command:
+      raw_control: false
+      velocity_gain: 3.0
+      max_forward_velocity: 20.0
+      max_backward_velocity: 3.0
+      backward_accel_ratio: 1.0

control/joy_controller/config/joy_controller_xbox.param.yaml

@@ -0,0 +1,16 @@
+/**:
+  ros__parameters:
+    joy_type: XBOX
+    update_rate: 10.0
+    accel_ratio: 3.0
+    brake_ratio: 5.0
+    steer_ratio: 0.5
+    steering_angle_velocity: 0.1
+    accel_sensitivity: 1.0
+    brake_sensitivity: 1.0
+    control_command:
+      raw_control: false
+      velocity_gain: 3.0
+      max_forward_velocity: 20.0
+      max_backward_velocity: 3.0
+      backward_accel_ratio: 1.0

control/joy_controller/launch/joy_controller.launch.xml

@@ -1,5 +1,4 @@
 <launch>
-  <arg name="joy_type" default="DS4" description="options: DS4, G29, P65, XBOX"/>
   <arg name="external_cmd_source" default="remote" description="options: local, remote"/>
 
   <arg name="input_joy" default="/joy"/>
@@ -13,7 +12,7 @@
   <arg name="output_gate_mode" default="/control/gate_mode_cmd"/>
   <arg name="output_vehicle_engage" default="/vehicle/engage"/>
 
-  <arg name="config_file" default="$(find-pkg-share joy_controller)/config/joy_controller.param.yaml"/>
+  <arg name="config_file" default="$(find-pkg-share joy_controller)/config/joy_controller_ds4.param.yaml"/>
 
   <node pkg="joy_controller" exec="joy_controller" name="joy_controller" output="screen">
     <remap from="input/joy" to="$(var input_joy)"/>

control/joy_controller/launch/joy_controller_param_selection.launch.xml

@@ -0,0 +1,7 @@
+<launch>
+  <arg name="joy_type" default="ds4" description="options: ds4, g29, p65, xbox"/>
+
+  <include file="$(find-pkg-share joy_controller)/launch/joy_controller.launch.xml">
+    <arg name="config_file" value="$(find-pkg-share joy_controller)/config/joy_controller_$(var joy_type).param.yaml"/>
+  </include>
+</launch>