Create joy mapper node - Githubissues

space-concordia-robotics / robotics-prototype

Teleoperated Mars rover with autonomous capabilities intended for robotics competitions.

https://spaceconcordia.github.io/robotics.html

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Create joy mapper node #633

Open vexandmore opened 6 months ago

vexandmore commented 6 months ago

Subtask of space-concordia-robotics/robotics-prototype#634

Create a node which handles switching between control types and ideally controllers.

Subscribe to /joy, and detect which controller is connected (PS4 controller in either of two mappings, Logitec joystick)
Allow mode to be set (wheel, arm, arm ik) with a button (it contains this state)
Publish to the four topics described in space-concordia-robotics/robotics-prototype#632 (based on the mode)
Be configurable with a yaml file (set which button and joystick axis corresponds to which motor)