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https://github.com/bjoernellens1/cps_rmp220_support.git
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18 lines
865 B
Plaintext
18 lines
865 B
Plaintext
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<launch>
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<!-- Launch the joy node to read input from the Xbox controller -->
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<node name="joy_node" pkg="joy" type="joy_node" output="screen">
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<param name="dev" value="/dev/input/js0" />
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</node>
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<!-- Launch the teleop_twist_joy node to map the joystick inputs to robot movement -->
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<node name="teleop_twist_joy" pkg="teleop_twist_joy" type="teleop_node" output="screen">
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<!-- Use the Xbox controller configuration -->
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<param name="config" value="xbox" />
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<param name="axis_linear" value="1" /> <!-- Left stick up/down for linear velocity -->
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<param name="axis_angular" value="0" /> <!-- Left stick left/right for angular velocity -->
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<param name="scale_angular" value="1.0" /> <!-- Scale factor for angular velocity -->
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<param name="scale_linear" value="0.5" /> <!-- Scale factor for linear velocity -->
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</node>
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</launch>
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