works somehow on unity in start config

config/T-29.yaml

@@ -0,0 +1,17 @@
+arctic_bot/joy_control:
+  ros__parameters:
+    speed_x_axis: 4
+    speed_y_axis: 3
+    speed_throttle_btn: 7
+
+    crosshair_plus_x_btn: -1
+    crosshair_minus_x_btn: -1
+    crosshair_plus_y_btn: -1
+    crosshair_minus_y_btn: -1
+
+    crosshair_step: 0.05
+
+    crosshair_x_axis: 6
+    crosshair_y_axis: 7
+
+

config/joy_config.yaml

@@ -0,0 +1,14 @@
+arctic_bot/joy:
+  ros__parameters:
+    # to list connected devices, use:
+    # ros2 run joy joy_enumerate_devices
+    device_id: 0
+    # device_name can used instead of device_id. device_name takes precedence
+    device_name: ""
+    # in [0.; 1.0]
+    deadzone: 0.3
+    # set autorepeat to 0 to disable
+    autorepeat_rate: 20.0
+    sticky_buttons: false
+    # rate control
+    coalesce_interval_ms: 1

config/unity.rviz

@@ -3,9 +3,7 @@ Panels:
     Help Height: 87
     Name: Displays
     Property Tree Widget:
-      Expanded:
-        - /Global Options1
-        - /Status1
+      Expanded: ~
       Splitter Ratio: 0.5
     Tree Height: 696
   - Class: rviz_common/Selection
@@ -73,7 +71,58 @@ Visualization Manager:
         Durability Policy: Volatile
         History Policy: Keep Last
         Reliability Policy: Reliable
-        Value: /fire_extinguisher_emulator/fire_extinguisher_image
+        Value: /arctic_bot/crosshair_image
+      Value: true
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Filter (blacklist): ""
+      Filter (whitelist): ""
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        back_left_wheel_link:
+          Value: true
+        back_right_wheel_link:
+          Value: true
+        base_footprint:
+          Value: true
+        base_link:
+          Value: true
+        camera_link:
+          Value: true
+        front_left_wheel_link:
+          Value: true
+        front_right_wheel_link:
+          Value: true
+        laser_link:
+          Value: true
+        map:
+          Value: true
+        odom:
+          Value: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: false
+      Tree:
+        map:
+          odom:
+            base_footprint:
+              base_link:
+                back_left_wheel_link:
+                  {}
+                back_right_wheel_link:
+                  {}
+                camera_link:
+                  {}
+                front_left_wheel_link:
+                  {}
+                front_right_wheel_link:
+                  {}
+                laser_link:
+                  {}
+      Update Interval: 0
       Value: true
   Enabled: true
   Global Options:
@@ -121,7 +170,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz_default_plugins/Orbit
-      Distance: 10
+      Distance: 8.9044189453125
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1