joy control

2026-07-08 20:50:03 +03:00
parent d1b8283c4b
commit c18df27d7a
3 changed files with 113 additions and 1 deletions
@@ -17,6 +17,11 @@ def generate_launch_description():
        DeclareLaunchArgument(
            "namespace", default_value="sirius_bot", description="Top-level namespace"
        ),
+        DeclareLaunchArgument(
+            "joy_model",
+            description="Used joystick model (default is T-29)",
+            default_value="T-29.yaml",
+        ),
        # DeclareLaunchArgument(
        #     "start_rviz", default_value="True", description="Use basic rviz"
        # ),
@@ -35,10 +40,28 @@ def generate_launch_description():
        ],
    )

+    model = LaunchConfiguration("joy_model")
+    joy_params = PathJoinSubstitution([pkg_unity_robot_controller,
+                                       "config",
+                                       model
+                                       ])
+
+    joy_control = Node(
+        package="wave_rover_controller",
+        executable="joy_control_node",
+        name="joy_control",
+        namespace=LaunchConfiguration("namespace"),
+        output="both",
+        parameters=[
+            ParameterFile(joy_params),
+        ],
+    )
+

    return LaunchDescription(
        launch_args
        + [
            joy_node,
+            joy_control
            ]
    )