From 96dc255c2d24f06c5e69216fa7e05a47bd126d10 Mon Sep 17 00:00:00 2001
From: fherrero <fherrero@iri.upc.edu>
Date: Tue, 1 Jun 2021 13:07:06 +0200
Subject: [PATCH] Update ps3 teleop launch files
---
...eop.launch => teleop_ps3_bluetooth.launch} | 22 +++++++-------
launch/teleop_ps3_cable.launch | 29 +++++++++++++++++++
2 files changed, 40 insertions(+), 11 deletions(-)
rename launch/{ps3_teleop.launch => teleop_ps3_bluetooth.launch} (50%)
create mode 100644 launch/teleop_ps3_cable.launch
diff --git a/launch/ps3_teleop.launch b/launch/teleop_ps3_bluetooth.launch
similarity index 50%
rename from launch/ps3_teleop.launch
rename to launch/teleop_ps3_bluetooth.launch
index e68aa10..d652c22 100644
--- a/launch/ps3_teleop.launch
+++ b/launch/teleop_ps3_bluetooth.launch
@@ -2,20 +2,20 @@
<!-- -->
<launch>
- <arg name="ns" default="ana" />
- <arg name="path" default="$(find iri_ana_bringup)"/>
- <arg name="config_file" default="$(arg path)/config/ana_ps3_bt_teleop.yaml" />
- <arg name="twist_topic" default="/$(arg ns)/teleop/cmd_vel"/>
- <arg name="joy_topic" default="/$(arg ns)/joy"/>
- <arg name="run_joy" default="true"/>
- <arg name="device" default="/dev/input/js1" />
- <arg name="joy_config_file" default="$(find iri_teleop_launch)/config/joy.yaml" />
- <arg name="output" default="screen" />
- <arg name="launch_prefix" default="" />
+ <arg name="ns" default="ana"/>
+ <arg name="path" default="$(find iri_ana_bringup)"/>
+ <arg name="config_file" default="$(arg path)/config/ana_ps3_bt_teleop.yaml" />
+ <arg name="twist_topic" default="/$(arg ns)/teleop/cmd_vel"/>
+ <arg name="joy_topic" default="/$(arg ns)/joy"/>
+ <arg name="run_joy" default="true"/>
+ <arg name="device" default="/dev/input/ps3joy"/>
+ <arg name="joy_config_file" default="$(find iri_teleop_launch)/config/joy.yaml"/>
+ <arg name="output" default="screen"/>
+ <arg name="launch_prefix" default=""/>
<include file="$(find iri_teleop_launch)/launch/joystick_teleop.launch">
<arg name="ns" value="$(arg ns)"/>
- <arg name="path" value="$(find iri_teleop_launch)"/>
+ <arg name="path" value="$(arg path)"/>
<arg name="config_file" value="$(arg config_file)"/>
<arg name="twist_topic" value="$(arg twist_topic)"/>
<arg name="joy_topic" value="$(arg joy_topic)"/>
diff --git a/launch/teleop_ps3_cable.launch b/launch/teleop_ps3_cable.launch
new file mode 100644
index 0000000..69a1d22
--- /dev/null
+++ b/launch/teleop_ps3_cable.launch
@@ -0,0 +1,29 @@
+<?xml version="1.0"?>
+<!-- -->
+<launch>
+
+ <arg name="ns" default="ana"/>
+ <arg name="path" default="$(find iri_ana_bringup)"/>
+ <arg name="config_file" default="$(arg path)/config/ana_ps3_cable_teleop.yaml"/>
+ <arg name="twist_topic" default="/$(arg ns)/teleop/cmd_vel"/>
+ <arg name="joy_topic" default="/$(arg ns)/joy"/>
+ <arg name="run_joy" default="true"/>
+ <arg name="device" default="/dev/input/ps3joy"/>
+ <arg name="joy_config_file" default="$(find iri_teleop_launch)/config/joy.yaml"/>
+ <arg name="output" default="screen"/>
+ <arg name="launch_prefix" default=""/>
+
+ <include file="$(find iri_teleop_launch)/launch/joystick_teleop.launch">
+ <arg name="ns" value="$(arg ns)"/>
+ <arg name="path" value="$(arg path)"/>
+ <arg name="config_file" value="$(arg config_file)"/>
+ <arg name="twist_topic" value="$(arg twist_topic)"/>
+ <arg name="joy_topic" value="$(arg joy_topic)"/>
+ <arg name="run_joy" value="$(arg run_joy)"/>
+ <arg name="device" value="$(arg device)"/>
+ <arg name="joy_config_file" value="$(arg joy_config_file)"/>
+ <arg name="output" value="$(arg output)"/>
+ <arg name="launch_prefix" value="$(arg launch_prefix)"/>
+ </include>
+
+</launch>
--
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