Create a joystick node to control the AUV through setpoints (either "lock in" the AUV into it's current position and move it around, or have incremental changes on all 6 axes)

[antoinedang]

Criteria

• [ ] AUV does not lag too much behind control input
• [ ] intuitively can control the auv's pose (ideal case would be GTA-like controls)
• [ ] GUI (using rqtgui) to view camera feeds, state, any other relevant information
• [ ] Runs along side the planner so the auv can be piloted into position before running a mission
• [ ] Button to flatten the auv's rotation (I.E. 0 out X and Y components of orientation)

[antoinedang]

NEW FEATURES TO INCLUDE: a way to "flatten" the AUV (zero out pitch and roll but keep the yaw) and a way to kill the AUV

[epicgamer17]

Thinking about using rosjoy and jstest

map axis 1 to pid setpoint that is a specific distance away (or surge) map axis 0 to sway button 1 and 2 to global z (pid loop) axis 3 to yaw when both axis is 0 set a pid loop to maintain that position, deactivate when bot is moving and deactivate the loop when it is not 0 also deactivate the loop for rotational pids to stay at 0 when yaw is not 0 then set them again when yaw is 0

if we want to implement heave could we do the same thing as we are doing with surge and other sway (might need to deactivate all position pid loops when moving then) maybe could set a default thruster value of the value of the pid when it was shut off or could constalty update the goal of z pid to be current z when moving (some way of stopping the bot from just dropping to the bottom when moving with this system)

some joystick button for resetting the position