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Improve joy telep support#131

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civerachb-cpr merged 21 commits intojazzy-2.0RCclearpathrobotics/clearpath_common:jazzy-2.0RCfrom better-joy-teleopclearpathrobotics/clearpath_common:better-joy-teleopCopy head branch name to clipboardJan 14, 2025

+1,927-56

Commits

Commits on Dec 17, 2024

• First attempt at an overhaul to the joy controller interface. Turns out the HCI RSSI feedback latches when the controller goes out of range, so it's useless as a metric.

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• Use link quality instead of RSSI. It appears to respond faster, and has a more predictable range of values

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• Fix the default value for the cutoff

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• Fix case of class name

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• Update description, add bluez dependency

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• Add the quality_cutoff parameter to all of the PS4 configuration files

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• Update the launch file to start the new cutoff node and additional twist_mux

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• Add udev rules for various controllers

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• Add dependency on the new bt cutoff package

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• Add xbox controller parameters for all platforms

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• Refactor the cutoff node to publish a stop topic that goes true when the quality is low. Remove the (unused) launch file from the cutoff package. Update topic remappings in the teleop launch file

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Commits on Dec 19, 2024

• Fix the PS4/5 axis ordering; the left stick shows up as axis 3/4, with the l/r analogue triggers being 2 & 5. Update omni control configurations accordingly

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• Missed updating the Jackal configuration

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• Add PS5 udev rules, config files

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• Fix devices for PS5 controllers

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Commits on Jan 6, 2025

• Rename the hidden cmd_vel topic

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• Add a timeout to the quality lock so we lock out the controller if the quality-checker node crashes

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• Set the respawn flag for the BT cutoff node and the joy_linux node

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• Update topics in docstring

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• Add additional logging when blocking for services & IPC. Since we've added a timeout to the lock, publish fake quality data when using wired controllers. Log when this happens

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Commits on Jan 7, 2025

• Add missing newline at EOF

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