Xbox controls for drivetrain

[nico-palmar]

The current working branch for the drivetrain and ros2 control does not have xbox control integration.

We should try to see if we can leverage an existing package for using an xbox to control the rover works. Refer to this repo https://github.com/ros2/teleop_twist_joy (as the source) and follow the instructions to setup teleop_twist_joy.

Note that this package comes from the ros1 version, so you can refer to the ros1 wiki for more high level details: http://wiki.ros.org/teleop_twist_joy

We should test this node and see if it is easy to control the rover using it.

If it is not easy and we need to make a new xbox control scheme that is easier to use:

A new xbox node similar to the one used here for SAR should be used: https://github.com/uwrobotics/uwrt_mars_rover/tree/user/nico/CANVel

We need to create a new xbox controller node that is more generic and not only picks up the joystick x and y values, but also left trigger, right trigger, and a few other buttons in an easy format.

Then, we should test using a few different controller schemes for controlling the xbox (maybe in simulation) and do some user/usability testing to figure out which control scheme works best to drive the rover (ie, it is the easiest).

[andrew2002zhao]

Documenting the xbox controller here https://docs.google.com/document/d/1zfSwsMCYjcFY4Sk07LEvdgrpFixqD5wQvX5lwxuMvn8/edit?usp=sharing

[soumya-khanna]

Updated Plan: https://soumyakhanna.notion.site/soumyakhanna/XBox-Controller-Movement-Design-Plan-83ad9293d39144619543e5cf6105b0de