Commit 862fd9c7 authored by Dave Niewinski's avatar Dave Niewinski
Browse files

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
parent 6e8f9468
# 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
......@@ -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>
......
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