Updated default controller to be PS4. Can be set back to logitech (legacy) by...

Updated default controller to be PS4.  Can be set back to logitech (legacy) by setting HUSKY_LOGITECH environment variable

husky_control/config/teleop_ps4.yaml

+# Teleop configuration for PS4 joystick using the x-pad configuration.
+teleop_twist_joy:
+  axis_linear: 1
+  scale_linear: 0.4
+  scale_linear_turbo: 2.0
+  axis_angular: 0
+  scale_angular: 1.4
+  enable_button: 4
+  enable_turbo_button: 5
+joy_node:
+  deadzone: 0.1
+  autorepeat_rate: 20
+  dev: /dev/input/ds4x

husky_control/launch/teleop.launch

@@ -6,11 +6,16 @@
 
   <group ns="joy_teleop">
 
-    <rosparam command="load" file="$(find husky_control)/config/teleop.yaml" />
+    <group unless="$(optenv HUSKY_LOGITECH 0)" >
+      <rosparam command="load" file="$(find husky_control)/config/teleop_ps4.yaml" />
+    </group>
 
-    <node pkg="joy" type="joy_node" name="joy_node">
-      <param name="dev" value="$(arg joy_dev)" />
-    </node>
+    <group if="$(optenv HUSKY_LOGITECH 0)" >
+      <rosparam command="load" file="$(find husky_control)/config/teleop.yaml" />
+      <param name="joy_node/dev" value="$(arg joy_dev)" />
+    </group>
+
+    <node pkg="joy" type="joy_node" name="joy_node" />
 
     <node pkg="teleop_twist_joy" type="teleop_node" name="teleop_twist_joy"/>
   </group>