mirror of
https://github.com/bjoernellens1/cps_rmp220_support.git
synced 2025-01-18 15:46:59 +00:00
21 lines
1001 B
XML
21 lines
1001 B
XML
<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" />
|
|
</node>
|
|
</launch>
|