Merge pull request #1 from alliander-opensource/refactor_launch_files

Add gamepad support.
alliander-opensource · Oct 4, 2024 · 78d0983 · 78d0983
2 parents e9757cd + 64b36dd
commit 78d0983
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Showing 2 changed files with 7 additions and 1 deletion.
diff --git a/rcdt_panther/config/ros_controller.yaml b/rcdt_panther/config/ros_controller.yaml
@@ -15,4 +15,4 @@ diff_drive_controller:
     wheel_separation: 0.697
     wheel_radius: 0.1825
 
-    use_stamped_vel: false
+    use_stamped_vel: true
diff --git a/rcdt_panther/launch/panther.launch.py b/rcdt_panther/launch/panther.launch.py
@@ -45,6 +45,11 @@ def launch_setup(context: LaunchContext) -> None:
         launch_arguments={"rviz_frame": "odom"}.items(),
     )
 
+    gamepad = Node(
+        package="rcdt_utilities",
+        executable="gamepad_node.py",
+    )
+
     skip = LaunchDescriptionEntity()
     return [
         SetParameter(name="use_sim_time", value=True),
@@ -53,6 +58,7 @@ def launch_setup(context: LaunchContext) -> None:
         joint_state_broadcaster,
         controllers,
         rviz if run_rviz_arg.value(context) else skip,
+        gamepad,
     ]