From 5aef2b77dd9c4d1293e7fafbd0e1bb7b49588012 Mon Sep 17 00:00:00 2001
From: sirius <fherrero@iri.upc.edu>
Date: Thu, 1 Jun 2017 14:57:29 +0200
Subject: [PATCH] twist_to_manual_control: added launchs, changed speed signum

---
 config/ps3.yaml      | 10 ++++++++++
 launch/node.launch   |  4 ++--
 launch/teleop.launch | 18 ++++++++++++++++++
 3 files changed, 30 insertions(+), 2 deletions(-)
 create mode 100644 config/ps3.yaml
 create mode 100644 launch/teleop.launch

diff --git a/config/ps3.yaml b/config/ps3.yaml
new file mode 100644
index 0000000..993c3dc
--- /dev/null
+++ b/config/ps3.yaml
@@ -0,0 +1,10 @@
+axis_linear: 1
+scale_linear: 0.5
+scale_linear_turbo: 2.0
+
+axis_angular: 2
+scale_angular: 0.5
+
+enable_button: 11  # R1 shoulder button
+enable_turbo_button: 9  # R2 shoulder button
+
diff --git a/launch/node.launch b/launch/node.launch
index ec25296..efe634d 100644
--- a/launch/node.launch
+++ b/launch/node.launch
@@ -22,8 +22,8 @@
       <param name="speed_min" value="-500"/>
       <param name="speed_max" value="500"/>
       
-      <param name="linear_sat_min" value="-0.5"/>
-      <param name="linear_sat_max" value="0.5"/>
+      <param name="linear_sat_min" value="-1.0"/>
+      <param name="linear_sat_max" value="1.0"/>
     </node>
 
 <!--  </group>-->
diff --git a/launch/teleop.launch b/launch/teleop.launch
new file mode 100644
index 0000000..e1344ae
--- /dev/null
+++ b/launch/teleop.launch
@@ -0,0 +1,18 @@
+<launch>
+  <arg name="dev" default="/dev/input/ps3joy"/>
+
+  <arg name="config_filepath" default="$(find twist_to_manual_control)/config/ps3.yaml" />
+
+  <node pkg="joy" type="joy_node" name="joy_node">
+    <param name="dev" value="$(arg dev)" />
+    <param name="deadzone" value="0.12" />
+    <param name="autorepeat_rate" value="20" />
+  </node>
+
+  <node pkg="teleop_twist_joy" name="teleop_twist_joy" type="teleop_node">
+    <rosparam command="load" file="$(arg config_filepath)" />
+  </node>
+
+  <include file="$(find twist_to_manual_control)/launch/node.launch"/>
+
+</launch>
-- 
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