From f37c801c0881234550aabcdfba052aabd415dc67 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <bsowa123@gmail.com>
Date: Thu, 2 Nov 2023 16:42:59 +0000
Subject: [PATCH] Switch to using joy_linux package instead of joy

---
 leo_teleop/launch/joy_teleop.launch.xml | 9 +++++----
 leo_teleop/package.xml                  | 2 +-
 2 files changed, 6 insertions(+), 5 deletions(-)

diff --git a/leo_teleop/launch/joy_teleop.launch.xml b/leo_teleop/launch/joy_teleop.launch.xml
index d0e194c..91aa928 100644
--- 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
index 43d132f..b188ffc 100644
--- 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>