From 4eb65b2868f474b775cc0f004acd0764e33c00ac Mon Sep 17 00:00:00 2001
From: jfisac <jfisac@berkeley.edu>
Date: Tue, 28 Aug 2018 18:51:30 -0700
Subject: [PATCH] Set up nodes for joystick (XBox) controller

---
 .../fastpeople/launch/software_crazyflie_launcher.launch  | 6 ++++++
 ros/src/fastpeople/launch/software_demo.launch            | 8 ++++++++
 2 files changed, 14 insertions(+)

diff --git a/ros/src/fastpeople/launch/software_crazyflie_launcher.launch b/ros/src/fastpeople/launch/software_crazyflie_launcher.launch
index 2af4492..1feffd8 100644
--- a/ros/src/fastpeople/launch/software_crazyflie_launcher.launch
+++ b/ros/src/fastpeople/launch/software_crazyflie_launcher.launch
@@ -290,4 +290,10 @@
     <param name="topics/final_control" value="$(arg final_control_topic)" />
     <param name="topics/in_flight" value="$(arg in_flight_topic)" />
   </node>
+
+  <!-- Joystick controller node (listens to XBox controller for service calls). -->
+  <node name="joystick_controller" pkg="crazyflie_demo" type="controller.py" output="screen">
+      <param name="use_crazyflie_controller" value="True" />
+      <param name="joy_topic" value="/joy" />
+    </node>
 </launch>
diff --git a/ros/src/fastpeople/launch/software_demo.launch b/ros/src/fastpeople/launch/software_demo.launch
index 3e4cf7f..6804b9c 100644
--- a/ros/src/fastpeople/launch/software_demo.launch
+++ b/ros/src/fastpeople/launch/software_demo.launch
@@ -13,6 +13,9 @@
   <arg name="collision_check_resolution" default="0.33" />
   <arg name="grid_resolution" default="0.33" />
 
+  <!-- Hardware interfaces. -->
+  <arg name="joy_dev" default="/dev/input/js0" />
+
   <!-- Record a rosbag. -->
   <node pkg="rosbag"
 	      type="record"
@@ -21,6 +24,11 @@
 	      if="$(arg record)">
   </node>
 
+  <!-- Joystick (XBox controller) publisher node. -->
+  <node name="joy" pkg="joy" type="joy_node" output="screen">
+    <param name="dev" value="$(arg joy_dev)" />
+  </node>
+
   <!-- ========================== Robot 1. ========================== -->
   <include file="$(find fastpeople)/launch/software_crazyflie_launcher.launch">
     <arg name="suffix" value="$(arg robot1)" />