Switch to using joy_linux package instead of joy

LeoRover · Nov 2, 2023 · f37c801 · f37c801
1 parent c38d073
commit f37c801
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Showing 2 changed files with 6 additions and 5 deletions.
diff --git a/leo_teleop/launch/joy_teleop.launch.xml b/leo_teleop/launch/joy_teleop.launch.xml
@@ -1,14 +1,15 @@
 <launch version="0.1.1">
-  <arg name="joy_dev_id" default="0" description="Joystick device id" />
+  <arg name="joy_dev" default="/dev/input/js0"
+    description="Joystick device path" />
   <arg name="cmd_vel_out" default="cmd_vel"
     description="Topic to send velocity commands on" />
   <arg name="joy_config_file"
     default="$(find-pkg-share leo_teleop)/config/joy_config.yaml"
     description="Path to the yaml file with parameters for joy_teleop_node" />
 
-  <node pkg="joy" exec="joy_node">
-    <param name="device_id" value="$(var joy_dev_id)" />
-    <param name="coalesce_interval_ms" value="50" />
+  <node pkg="joy_linux" exec="joy_linux_node">
+    <param name="dev" value="$(var joy_dev)" />
+    <param name="coalesce_interval" value="0.05" />
     <param name="autorepeat_rate" value="10.0" />
   </node>
 

diff --git a/leo_teleop/package.xml b/leo_teleop/package.xml
@@ -18,7 +18,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <exec_depend>joy</exec_depend>
+  <exec_depend>joy_linux</exec_depend>
   <exec_depend>teleop_twist_joy</exec_depend>
   <exec_depend>teleop_twist_keyboard</exec_depend>