Expand joy teleop config to support the mecanum wheels (#4)

* expand joy config to handle mecanum wheels Signed-off-by: Aleksander Szymański <[email protected]> * clear parameters on node launch Signed-off-by: Aleksander Szymański <[email protected]> --------- Signed-off-by: Aleksander Szymański <[email protected]>
LeoRover · Aug 7, 2023 · 5ab5cd1 · 5ab5cd1
1 parent 8c52486
commit 5ab5cd1
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Showing 2 changed files with 11 additions and 5 deletions.
diff --git a/leo_teleop/config/joy_config.yaml b/leo_teleop/config/joy_config.yaml
@@ -1,5 +1,11 @@
-axis_linear: 1
-scale_linear: 0.4
-axis_angular: 3
-scale_angular: 1.0
+axis_linear:
+  x: 1
+  y: 0
+scale_linear:
+  x: 0.4
+  y: 0.4
+axis_angular:
+  yaw: 3
+scale_angular:
+  yaw: 1.2
 enable_button: 5
diff --git a/leo_teleop/launch/joy_teleop.launch b/leo_teleop/launch/joy_teleop.launch
@@ -10,7 +10,7 @@
     <param name="autorepeat_rate" value="10.0"/>
   </node>
 
-  <node name="joy_teleop_node" pkg="teleop_twist_joy" type="teleop_node">
+  <node name="joy_teleop_node" pkg="teleop_twist_joy" type="teleop_node" clear_params="true">
     <rosparam command="load" file="$(arg joy_config_file)"/>
     <remap from="cmd_vel" to="$(arg cmd_vel_out)"/>
   </node>