Currently, there exists two utilities for using an RC controller with the simulator: rc_sim.py and rc_joy.py. rc_sim.py is used when you don't have an actual joystick, but is a pain to use as every switch flick requires a ros service call.
We should eliminate rc_sim.py and modify rc_joy.py to use a joystick when one is detected, but otherwise replicate the functionality of rc_sim.py. Additionally, we could modify the non-joystick behavior to automatically arm the flight controller and enable rc_override when the SIL is detected. This would eliminate the need for two additional ros service calls to start flying without a joystick.
Currently, there exists two utilities for using an RC controller with the simulator: rc_sim.py and rc_joy.py. rc_sim.py is used when you don't have an actual joystick, but is a pain to use as every switch flick requires a ros service call.
We should eliminate rc_sim.py and modify rc_joy.py to use a joystick when one is detected, but otherwise replicate the functionality of rc_sim.py. Additionally, we could modify the non-joystick behavior to automatically arm the flight controller and enable rc_override when the SIL is detected. This would eliminate the need for two additional ros service calls to start flying without a joystick.