Improve joy telep support

[civerachb-cpr]

Overview

1. Block joy teleop inputs if signal quality is poor
2. Add configurations for other common controllers

Block inputs when signal quality is poor

Adds a new clearpath_bt_joy package which contains a node that monitors the link quality of the connection to the game controller and uses that to publish a quality_ok topic that can be used a lock to a twist_mux node.

The joy controller topics & nodes are slightly reworked, with some new hidden topics. Everything remains API compatible with the existing layout.

Previously:

• joy_linux publishes joy_teleop/joy
• teleop_twist_joy subscribes to joy_teleop/joy, publishes joy_teleop/cmd_vel

Now:

• joy_linux still publishes joy_teleop/joy
• teleop_twist_joy publishes joy_teleop/_cmd_vel (hidden topic)
• clearpath_bt_joy publishes joy_teleop/quality and joy_teleop/bt_quality_stop as new topics
• a new twist_mux subscribes to joy_teleop/_cmd_vel as the input and joy_teleop/bt_quality_stop as a lock, publishing joy_teleop/cmd_vel as the output

By relying on the bluez package's hcitool lq MAC_ADDR command, we avoid adding any additional systemd jobs or modifying the OS's joy controller drivers; we just passively monitor the link quality and use the twist_mux's lock input to disable the controller input when needed.

Context

Linux game controllers latch their last-received command for a brief period when the connection to the controller is lost. When dealing with a physical robot this can cause a dangerous situation where the robot is literally untrontrollable for a brief window of time.

Previously we used the DS4DRV package to mitigate this, but that package was specific to the PS4/DualShock controller, which we may be moving away from.

Add support for additional common controllers

Adds udev rules & configuration files for PS4, Xbox, Logitech game controllers. PS5 pending, though may be compatible with PS4 (untested so far)

Logitech controller udev rules removed from clearpath_robot and moved here. See clearpathrobotics/clearpath_robot#113

Additional controllers added to clearpath_config here: clearpathrobotics/clearpath_config#105

[roni-kreinin]

Other than the hidden topics, LGTM

[hilary-luo]

A couple more high level comments:

• Consider adding some additional info logging lines to show if it is still waiting on something else (ex. a service to be available like line 60 in clearpath_bt_joy_cutoff_node.py) vs it is ready and operational
• Consider whether the quality or timeout should be configurable from the robot.yaml

[hilary-luo]

This has the quality timeout disabled, it would be "safer" to timeout on a stale quality topic. Let's discuss

[civerachb-cpr]

I've added a 1s timeout after discussing on Slack.

[civerachb-cpr]

Made a few further changes to the code for non-bluetooth controllers to work around the timeout. Since if the controller doesn't have a MAC it's most likely using a dongle or it's wired, we just publish full quality. If the device is then unplugged it will stop publishing anyway, so the quality cutoff is irrelevant.

[civerachb-cpr]

Updated the MR description to reflect changes to topic names, just in case we ever refer back to this down the road.

[hilary-luo]

Looks good to me