From b722102e0ac3aad28b0046e03e3db5f1fa83012c Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Wed, 24 Apr 2019 16:43:37 +0200
Subject: [PATCH] Added a launch file to teleoperate the robot with a ps3 pad.

---
 launch/ps3_teleop.launch | 29 +++++++++++++++++++++++++++++
 1 file changed, 29 insertions(+)
 create mode 100644 launch/ps3_teleop.launch

diff --git a/launch/ps3_teleop.launch b/launch/ps3_teleop.launch
new file mode 100644
index 0000000..1255f39
--- /dev/null
+++ b/launch/ps3_teleop.launch
@@ -0,0 +1,29 @@
+<?xml version="1.0"?>
+<!-- -->
+<launch>
+
+  <arg name="ns"            default="ana" />
+  <arg name="path"          default="$(find iri_teleop_launch)"/>
+  <arg name="config_file"   default="$(arg path)/config/ps3_bt_teleop.yaml" />
+  <arg name="twist_topic"   default="/$(arg ns)/ana_odom/cmd_vel_in"/>
+  <arg name="joy_topic"     default="/$(arg ns)/joy"/>
+  <arg name="run_joy"       default="true"/>
+    <arg name="device"          default="/dev/input/js0" />
+    <arg name="joy_config_file" default="$(arg path)/config/joy.yaml" />
+  <arg name="output"        default="screen" />
+  <arg name="launch_prefix" default="" />
+
+  <include file="$(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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