key remapping for ps4 dualshock controller

[nhooram]

I got the openshc stack to work on my 18 dof hexapod using the frankenX configuration, but I'm using a PS4 controller. Most of the keys work okay, but some mapping are off, namely the one to control the angular velocity. I think I'm supposed to touch this file https://github.com/csiro-robotics/syropod_remote/blob/master/include/syropod_remote/syropod_remote.h but I'm not sure how to go about doing it. Any suggestions would be appreciated!

[nhooram]

Figured it out. Needed rostopic echo /joy and see the button indexes for each button. Here's what I've got to get it working with a PS4 Dualshock controller:

////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/// Designation for buttons in the joypad.
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
enum JoypadButtonIndex
{
  A_BUTTON,
  B_BUTTON,
  X_BUTTON,
  Y_BUTTON,
  LEFT_BUMPER,
  RIGHT_BUMPER,
  LEFT_TRIGGER,
  RIGHT_TRIGGER,
  BACK,
  START,
  LEFT_JOYSTICK,
  RIGHT_JOYSTICK,
  LOGITECH,
};

////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/// Designation for axes in the joypad.
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
enum JoypadAxisIndex
{
  PRIMARY_X,
  PRIMARY_Y,
  SECONDARY_X,
  SECONDARY_Z,
  PRIMARY_Z,
  SECONDARY_Y,
  DPAD_LEFT_RIGHT,
  DPAD_UP_DOWN,
};