<launch>
  <!-- Launch the joy node to read input from the Xbox controller -->
  <node name="joy_node" pkg="joy" type="joy_node" output="screen">
    <param name="dev" value="/dev/input/js0" />
    <param name="autorepeat_rate" value="50.0" />
  </node>

  <!-- Launch the teleop_twist_joy node to map the joystick inputs to robot movement -->
  <node name="teleop_twist_joy" pkg="teleop_twist_joy" type="teleop_node" output="screen">
    <!-- Use the Xbox controller configuration -->
    <param name="config" value="xbox" />
    <param name="axis_linear" value="1" /> <!-- Left stick up/down for linear velocity -->
    <param name="axis_angular" value="0" /> <!-- Left stick left/right for angular velocity -->
    <param name="scale_angular" value="1.0" /> <!-- Scale factor for angular velocity -->
    <param name="scale_linear" value="0.5" /> <!-- Scale factor for linear velocity -->
    
    <!-- Remap /cmd_vel to /joy_vel -->
    <!-- <remap from="/cmd_vel" to="/joy_vel" /> -->
    <remap from="/cmd_vel" to="/input_joy/cmd_vel" />
  </node>
</launch>
