From 346651a6d931b6f164ab596940002ac1e494abd0 Mon Sep 17 00:00:00 2001 From: Chris Iverach-Brereton Date: Tue, 17 Dec 2024 11:46:57 -0500 Subject: [PATCH] Add xbox controller parameters for all platforms --- .../config/a200/teleop_xbox.yaml | 66 ++++++++++++++++++ .../config/a300/teleop_xbox.yaml | 66 ++++++++++++++++++ .../config/dd100/teleop_xbox.yaml | 66 ++++++++++++++++++ .../config/dd150/teleop_xbox.yaml | 66 ++++++++++++++++++ .../config/do100/teleop_xbox.yaml | 69 +++++++++++++++++++ .../config/do150/teleop_xbox.yaml | 69 +++++++++++++++++++ .../config/generic/teleop_xbox.yaml | 66 ++++++++++++++++++ .../config/j100/teleop_xbox.yaml | 66 ++++++++++++++++++ .../config/r100/teleop_xbox.yaml | 69 +++++++++++++++++++ .../config/w200/teleop_xbox.yaml | 66 ++++++++++++++++++ 10 files changed, 669 insertions(+) create mode 100644 clearpath_control/config/a200/teleop_xbox.yaml create mode 100644 clearpath_control/config/a300/teleop_xbox.yaml create mode 100644 clearpath_control/config/dd100/teleop_xbox.yaml create mode 100644 clearpath_control/config/dd150/teleop_xbox.yaml create mode 100644 clearpath_control/config/do100/teleop_xbox.yaml create mode 100644 clearpath_control/config/do150/teleop_xbox.yaml create mode 100644 clearpath_control/config/generic/teleop_xbox.yaml create mode 100644 clearpath_control/config/j100/teleop_xbox.yaml create mode 100644 clearpath_control/config/r100/teleop_xbox.yaml create mode 100644 clearpath_control/config/w200/teleop_xbox.yaml diff --git a/clearpath_control/config/a200/teleop_xbox.yaml b/clearpath_control/config/a200/teleop_xbox.yaml new file mode 100644 index 0000000..c85ad09 --- /dev/null +++ b/clearpath_control/config/a200/teleop_xbox.yaml @@ -0,0 +1,66 @@ +# Layout for Microsoft Xbox controllers +# +# (LB) (RB) +# (LT) (RT) +# _=====_ _=====_ +# / \ / \ +# / ---------------------------- \ +# / ___ (Y) \ +# / / L \ \ +# / \___/ (X) (B) \ +# | # = | +# | (A) | +# | _ ___ | +# | __| |__ / R \ | +# | |__ __| \___/ | +# | |_| | +# | /------------------------\ | +# | / \ | +# | / \ | +# \ / \ / +# \________/ \________/ +# +# BUTTON Value +# LB 6 +# RB 7 +# A 0 +# B 1 +# X 3 +# Y 4 +# L (click) 13 +# R (click) 14 +# menu (=) 11 +# window (#) unmapped + +# +# AXIS Value +# Left Horiz. 0 +# Left Vert. 1 +# Right Horiz. 2 +# Right Vert. 3 +# LT 5 +# RT 4 # yes, really, RT is 4, not 5 +# D-pad Horiz. 6 +# D-pad Vert. 7 + +teleop_twist_joy_node: + ros__parameters: + publish_stamped_twist: True + use_sim_time: False + axis_linear.x: 1 + scale_linear.x: 0.4 + scale_linear_turbo.x: 1.0 + axis_angular.yaw: 0 + scale_angular.yaw: 0.6 + scale_angular_turbo.yaw: 1.2 + enable_button: 6 + enable_turbo_button: 7 +joy_node: + ros__parameters: + use_sim_time: False + deadzone: 0.1 + autorepeat_rate: 20.0 + dev: /dev/input/xbox +bt_cutoff_node: + ros__parameters: + quality_cutoff: 20 \ No newline at end of file diff --git a/clearpath_control/config/a300/teleop_xbox.yaml b/clearpath_control/config/a300/teleop_xbox.yaml new file mode 100644 index 0000000..8da9ad8 --- /dev/null +++ b/clearpath_control/config/a300/teleop_xbox.yaml @@ -0,0 +1,66 @@ +# Layout for Microsoft Xbox controllers +# +# (LB) (RB) +# (LT) (RT) +# _=====_ _=====_ +# / \ / \ +# / ---------------------------- \ +# / ___ (Y) \ +# / / L \ \ +# / \___/ (X) (B) \ +# | # = | +# | (A) | +# | _ ___ | +# | __| |__ / R \ | +# | |__ __| \___/ | +# | |_| | +# | /------------------------\ | +# | / \ | +# | / \ | +# \ / \ / +# \________/ \________/ +# +# BUTTON Value +# LB 6 +# RB 7 +# A 0 +# B 1 +# X 3 +# Y 4 +# L (click) 13 +# R (click) 14 +# menu (=) 11 +# window (#) unmapped + +# +# AXIS Value +# Left Horiz. 0 +# Left Vert. 1 +# Right Horiz. 2 +# Right Vert. 3 +# LT 5 +# RT 4 # yes, really, RT is 4, not 5 +# D-pad Horiz. 6 +# D-pad Vert. 7 + +teleop_twist_joy_node: + ros__parameters: + publish_stamped_twist: True + use_sim_time: False + axis_linear.x: 1 + scale_linear.x: 0.3 + scale_linear_turbo.x: 2.0 + axis_angular.yaw: 0 + scale_angular.yaw: 1.0 + scale_angular_turbo.yaw: 2.0 + enable_button: 5 + enable_turbo_button: 4 +joy_node: + ros__parameters: + use_sim_time: False + deadzone: 0.1 + autorepeat_rate: 20.0 + dev: /dev/input/xbox +bt_cutoff_node: + ros__parameters: + quality_cutoff: 20 \ No newline at end of file diff --git a/clearpath_control/config/dd100/teleop_xbox.yaml b/clearpath_control/config/dd100/teleop_xbox.yaml new file mode 100644 index 0000000..0af6480 --- /dev/null +++ b/clearpath_control/config/dd100/teleop_xbox.yaml @@ -0,0 +1,66 @@ +# Layout for Microsoft Xbox controllers +# +# (LB) (RB) +# (LT) (RT) +# _=====_ _=====_ +# / \ / \ +# / ---------------------------- \ +# / ___ (Y) \ +# / / L \ \ +# / \___/ (X) (B) \ +# | # = | +# | (A) | +# | _ ___ | +# | __| |__ / R \ | +# | |__ __| \___/ | +# | |_| | +# | /------------------------\ | +# | / \ | +# | / \ | +# \ / \ / +# \________/ \________/ +# +# BUTTON Value +# LB 6 +# RB 7 +# A 0 +# B 1 +# X 3 +# Y 4 +# L (click) 13 +# R (click) 14 +# menu (=) 11 +# window (#) unmapped + +# +# AXIS Value +# Left Horiz. 0 +# Left Vert. 1 +# Right Horiz. 2 +# Right Vert. 3 +# LT 5 +# RT 4 # yes, really, RT is 4, not 5 +# D-pad Horiz. 6 +# D-pad Vert. 7 + +teleop_twist_joy_node: + ros__parameters: + publish_stamped_twist: True + use_sim_time: False + axis_linear.x: 1 + scale_linear.x: 0.4 + scale_linear_turbo.x: 1.0 + axis_angular.yaw: 0 + scale_angular.yaw: 0.6 + scale_angular_turbo.yaw: 1.0 + enable_button: 6 + enable_turbo_button: 7 +joy_node: + ros__parameters: + use_sim_time: False + deadzone: 0.1 + autorepeat_rate: 20.0 + dev: /dev/input/xbox +bt_cutoff_node: + ros__parameters: + quality_cutoff: 20 \ No newline at end of file diff --git a/clearpath_control/config/dd150/teleop_xbox.yaml b/clearpath_control/config/dd150/teleop_xbox.yaml new file mode 100644 index 0000000..0af6480 --- /dev/null +++ b/clearpath_control/config/dd150/teleop_xbox.yaml @@ -0,0 +1,66 @@ +# Layout for Microsoft Xbox controllers +# +# (LB) (RB) +# (LT) (RT) +# _=====_ _=====_ +# / \ / \ +# / ---------------------------- \ +# / ___ (Y) \ +# / / L \ \ +# / \___/ (X) (B) \ +# | # = | +# | (A) | +# | _ ___ | +# | __| |__ / R \ | +# | |__ __| \___/ | +# | |_| | +# | /------------------------\ | +# | / \ | +# | / \ | +# \ / \ / +# \________/ \________/ +# +# BUTTON Value +# LB 6 +# RB 7 +# A 0 +# B 1 +# X 3 +# Y 4 +# L (click) 13 +# R (click) 14 +# menu (=) 11 +# window (#) unmapped + +# +# AXIS Value +# Left Horiz. 0 +# Left Vert. 1 +# Right Horiz. 2 +# Right Vert. 3 +# LT 5 +# RT 4 # yes, really, RT is 4, not 5 +# D-pad Horiz. 6 +# D-pad Vert. 7 + +teleop_twist_joy_node: + ros__parameters: + publish_stamped_twist: True + use_sim_time: False + axis_linear.x: 1 + scale_linear.x: 0.4 + scale_linear_turbo.x: 1.0 + axis_angular.yaw: 0 + scale_angular.yaw: 0.6 + scale_angular_turbo.yaw: 1.0 + enable_button: 6 + enable_turbo_button: 7 +joy_node: + ros__parameters: + use_sim_time: False + deadzone: 0.1 + autorepeat_rate: 20.0 + dev: /dev/input/xbox +bt_cutoff_node: + ros__parameters: + quality_cutoff: 20 \ No newline at end of file diff --git a/clearpath_control/config/do100/teleop_xbox.yaml b/clearpath_control/config/do100/teleop_xbox.yaml new file mode 100644 index 0000000..14f1454 --- /dev/null +++ b/clearpath_control/config/do100/teleop_xbox.yaml @@ -0,0 +1,69 @@ +# Layout for Microsoft Xbox controllers +# +# (LB) (RB) +# (LT) (RT) +# _=====_ _=====_ +# / \ / \ +# / ---------------------------- \ +# / ___ (Y) \ +# / / L \ \ +# / \___/ (X) (B) \ +# | # = | +# | (A) | +# | _ ___ | +# | __| |__ / R \ | +# | |__ __| \___/ | +# | |_| | +# | /------------------------\ | +# | / \ | +# | / \ | +# \ / \ / +# \________/ \________/ +# +# BUTTON Value +# LB 6 +# RB 7 +# A 0 +# B 1 +# X 3 +# Y 4 +# L (click) 13 +# R (click) 14 +# menu (=) 11 +# window (#) unmapped + +# +# AXIS Value +# Left Horiz. 0 +# Left Vert. 1 +# Right Horiz. 2 +# Right Vert. 3 +# LT 5 +# RT 4 # yes, really, RT is 4, not 5 +# D-pad Horiz. 6 +# D-pad Vert. 7 + +teleop_twist_joy_node: + ros__parameters: + publish_stamped_twist: True + use_sim_time: False + axis_linear.x: 1 + axis_linear.y: 0 + scale_linear.x: 0.4 + scale_linear.y: 0.4 + scale_linear_turbo.x: 1.0 + scale_linear_turbo.y: 1.0 + axis_angular.yaw: 3 + scale_angular.yaw: 0.5 + scale_angular_turbo.yaw: 1.0 + enable_button: 6 + enable_turbo_button: 7 +joy_node: + ros__parameters: + use_sim_time: False + deadzone: 0.1 + autorepeat_rate: 20.0 + dev: /dev/input/xbox +bt_cutoff_node: + ros__parameters: + quality_cutoff: 20 \ No newline at end of file diff --git a/clearpath_control/config/do150/teleop_xbox.yaml b/clearpath_control/config/do150/teleop_xbox.yaml new file mode 100644 index 0000000..14f1454 --- /dev/null +++ b/clearpath_control/config/do150/teleop_xbox.yaml @@ -0,0 +1,69 @@ +# Layout for Microsoft Xbox controllers +# +# (LB) (RB) +# (LT) (RT) +# _=====_ _=====_ +# / \ / \ +# / ---------------------------- \ +# / ___ (Y) \ +# / / L \ \ +# / \___/ (X) (B) \ +# | # = | +# | (A) | +# | _ ___ | +# | __| |__ / R \ | +# | |__ __| \___/ | +# | |_| | +# | /------------------------\ | +# | / \ | +# | / \ | +# \ / \ / +# \________/ \________/ +# +# BUTTON Value +# LB 6 +# RB 7 +# A 0 +# B 1 +# X 3 +# Y 4 +# L (click) 13 +# R (click) 14 +# menu (=) 11 +# window (#) unmapped + +# +# AXIS Value +# Left Horiz. 0 +# Left Vert. 1 +# Right Horiz. 2 +# Right Vert. 3 +# LT 5 +# RT 4 # yes, really, RT is 4, not 5 +# D-pad Horiz. 6 +# D-pad Vert. 7 + +teleop_twist_joy_node: + ros__parameters: + publish_stamped_twist: True + use_sim_time: False + axis_linear.x: 1 + axis_linear.y: 0 + scale_linear.x: 0.4 + scale_linear.y: 0.4 + scale_linear_turbo.x: 1.0 + scale_linear_turbo.y: 1.0 + axis_angular.yaw: 3 + scale_angular.yaw: 0.5 + scale_angular_turbo.yaw: 1.0 + enable_button: 6 + enable_turbo_button: 7 +joy_node: + ros__parameters: + use_sim_time: False + deadzone: 0.1 + autorepeat_rate: 20.0 + dev: /dev/input/xbox +bt_cutoff_node: + ros__parameters: + quality_cutoff: 20 \ No newline at end of file diff --git a/clearpath_control/config/generic/teleop_xbox.yaml b/clearpath_control/config/generic/teleop_xbox.yaml new file mode 100644 index 0000000..c85ad09 --- /dev/null +++ b/clearpath_control/config/generic/teleop_xbox.yaml @@ -0,0 +1,66 @@ +# Layout for Microsoft Xbox controllers +# +# (LB) (RB) +# (LT) (RT) +# _=====_ _=====_ +# / \ / \ +# / ---------------------------- \ +# / ___ (Y) \ +# / / L \ \ +# / \___/ (X) (B) \ +# | # = | +# | (A) | +# | _ ___ | +# | __| |__ / R \ | +# | |__ __| \___/ | +# | |_| | +# | /------------------------\ | +# | / \ | +# | / \ | +# \ / \ / +# \________/ \________/ +# +# BUTTON Value +# LB 6 +# RB 7 +# A 0 +# B 1 +# X 3 +# Y 4 +# L (click) 13 +# R (click) 14 +# menu (=) 11 +# window (#) unmapped + +# +# AXIS Value +# Left Horiz. 0 +# Left Vert. 1 +# Right Horiz. 2 +# Right Vert. 3 +# LT 5 +# RT 4 # yes, really, RT is 4, not 5 +# D-pad Horiz. 6 +# D-pad Vert. 7 + +teleop_twist_joy_node: + ros__parameters: + publish_stamped_twist: True + use_sim_time: False + axis_linear.x: 1 + scale_linear.x: 0.4 + scale_linear_turbo.x: 1.0 + axis_angular.yaw: 0 + scale_angular.yaw: 0.6 + scale_angular_turbo.yaw: 1.2 + enable_button: 6 + enable_turbo_button: 7 +joy_node: + ros__parameters: + use_sim_time: False + deadzone: 0.1 + autorepeat_rate: 20.0 + dev: /dev/input/xbox +bt_cutoff_node: + ros__parameters: + quality_cutoff: 20 \ No newline at end of file diff --git a/clearpath_control/config/j100/teleop_xbox.yaml b/clearpath_control/config/j100/teleop_xbox.yaml new file mode 100644 index 0000000..4e48938 --- /dev/null +++ b/clearpath_control/config/j100/teleop_xbox.yaml @@ -0,0 +1,66 @@ +# Layout for Microsoft Xbox controllers +# +# (LB) (RB) +# (LT) (RT) +# _=====_ _=====_ +# / \ / \ +# / ---------------------------- \ +# / ___ (Y) \ +# / / L \ \ +# / \___/ (X) (B) \ +# | # = | +# | (A) | +# | _ ___ | +# | __| |__ / R \ | +# | |__ __| \___/ | +# | |_| | +# | /------------------------\ | +# | / \ | +# | / \ | +# \ / \ / +# \________/ \________/ +# +# BUTTON Value +# LB 6 +# RB 7 +# A 0 +# B 1 +# X 3 +# Y 4 +# L (click) 13 +# R (click) 14 +# menu (=) 11 +# window (#) unmapped + +# +# AXIS Value +# Left Horiz. 0 +# Left Vert. 1 +# Right Horiz. 2 +# Right Vert. 3 +# LT 5 +# RT 4 # yes, really, RT is 4, not 5 +# D-pad Horiz. 6 +# D-pad Vert. 7 + +teleop_twist_joy_node: + ros__parameters: + publish_stamped_twist: True + use_sim_time: False + axis_linear.x: 1 + scale_linear.x: 0.4 + scale_linear_turbo.x: 2.0 + axis_angular.yaw: 0 + scale_angular.yaw: 0.6 + scale_angular_turbo.yaw: 1.4 + enable_button: 6 + enable_turbo_button: 7 +joy_node: + ros__parameters: + use_sim_time: False + deadzone: 0.1 + autorepeat_rate: 20.0 + dev: /dev/input/xbox +bt_cutoff_node: + ros__parameters: + quality_cutoff: 20 \ No newline at end of file diff --git a/clearpath_control/config/r100/teleop_xbox.yaml b/clearpath_control/config/r100/teleop_xbox.yaml new file mode 100644 index 0000000..5fbf4ec --- /dev/null +++ b/clearpath_control/config/r100/teleop_xbox.yaml @@ -0,0 +1,69 @@ +# Layout for Microsoft Xbox controllers +# +# (LB) (RB) +# (LT) (RT) +# _=====_ _=====_ +# / \ / \ +# / ---------------------------- \ +# / ___ (Y) \ +# / / L \ \ +# / \___/ (X) (B) \ +# | # = | +# | (A) | +# | _ ___ | +# | __| |__ / R \ | +# | |__ __| \___/ | +# | |_| | +# | /------------------------\ | +# | / \ | +# | / \ | +# \ / \ / +# \________/ \________/ +# +# BUTTON Value +# LB 6 +# RB 7 +# A 0 +# B 1 +# X 3 +# Y 4 +# L (click) 13 +# R (click) 14 +# menu (=) 11 +# window (#) unmapped + +# +# AXIS Value +# Left Horiz. 0 +# Left Vert. 1 +# Right Horiz. 2 +# Right Vert. 3 +# LT 5 +# RT 4 # yes, really, RT is 4, not 5 +# D-pad Horiz. 6 +# D-pad Vert. 7 + +teleop_twist_joy_node: + ros__parameters: + publish_stamped_twist: True + use_sim_time: False + axis_linear.x: 1 + axis_linear.y: 0 + scale_linear.x: 0.4 + scale_linear.y: 0.4 + scale_linear_turbo.x: 0.4 + scale_linear_turbo.y: 0.4 + axis_angular.yaw: 3 + scale_angular.yaw: 0.5 + scale_angular_turbo.yaw: 0.5 + enable_button: 6 + enable_turbo_button: 7 +joy_node: + ros__parameters: + use_sim_time: False + deadzone: 0.1 + autorepeat_rate: 20.0 + dev: /dev/input/xbox +bt_cutoff_node: + ros__parameters: + quality_cutoff: 20 \ No newline at end of file diff --git a/clearpath_control/config/w200/teleop_xbox.yaml b/clearpath_control/config/w200/teleop_xbox.yaml new file mode 100644 index 0000000..be9e6a7 --- /dev/null +++ b/clearpath_control/config/w200/teleop_xbox.yaml @@ -0,0 +1,66 @@ +# Layout for Microsoft Xbox controllers +# +# (LB) (RB) +# (LT) (RT) +# _=====_ _=====_ +# / \ / \ +# / ---------------------------- \ +# / ___ (Y) \ +# / / L \ \ +# / \___/ (X) (B) \ +# | # = | +# | (A) | +# | _ ___ | +# | __| |__ / R \ | +# | |__ __| \___/ | +# | |_| | +# | /------------------------\ | +# | / \ | +# | / \ | +# \ / \ / +# \________/ \________/ +# +# BUTTON Value +# LB 6 +# RB 7 +# A 0 +# B 1 +# X 3 +# Y 4 +# L (click) 13 +# R (click) 14 +# menu (=) 11 +# window (#) unmapped + +# +# AXIS Value +# Left Horiz. 0 +# Left Vert. 1 +# Right Horiz. 2 +# Right Vert. 3 +# LT 5 +# RT 4 # yes, really, RT is 4, not 5 +# D-pad Horiz. 6 +# D-pad Vert. 7 + +teleop_twist_joy_node: + ros__parameters: + publish_stamped_twist: True + use_sim_time: False + axis_linear.x: 1 + scale_linear.x: 0.5 + scale_linear_turbo.x: 1.0 + axis_angular.yaw: 0 + scale_angular.yaw: 2.4 + scale_angular_turbo.yaw: 2.4 + enable_button: 6 + enable_turbo_button: 7 +joy_node: + ros__parameters: + use_sim_time: False + deadzone: 0.1 + autorepeat_rate: 20.0 + dev: /dev/input/xbox +bt_cutoff_node: + ros__parameters: + quality_cutoff: 20 \ No newline at end of file