Add joy_mapper_test.launch to test joy_mapper. Output steering and sp…

…eed between -1 an 1.

catkin_ws/.gitignore

@@ -1,2 +1,2 @@
-devel/
-build/
+build/
+devel/

catkin_ws/src/joy_mapper/launch/joy_mapper_test.launch

@@ -0,0 +1,12 @@
+<launch>
+	<!-- <group ns="veh_name"> -->
+	<!-- Launch joy -->
+	<node pkg="joy" type="joy_node" name="joy" output="screen">
+	    <param name="~dev" value="/dev/input/js0"/>
+	    <param name="~deadzone" value="0.1"/>
+	</node>
+	<node pkg="joy_mapper" type="joy_mapper.py" name="joy_mapper" output="screen">
+		<param name="~pub_timestep" value="0.02"/>
+	</node>
+	<!-- </group> -->
+</launch>

catkin_ws/src/joy_mapper/script/joy_mapper.py

@@ -11,8 +11,8 @@ def __init__(self):
 
         # Setup Parameters
         self.pub_timestep = self.setupParam("~pub_timestep",0.02)
-        self.speed_gain = self.setupParam("~speed_gain",1.0)
-        self.steer_gain = self.setupParam("~steer_gain",np.pi*(15.0/180.0))
+        # self.speed_gain = self.setupParam("~speed_gain",1.0)
+        # self.steer_gain = self.setupParam("~steer_gain",np.pi*(15.0/180.0))
 
         # Publications
         self.pub_control = rospy.Publisher("~joy_control",CarControl,queue_size=1)
@@ -38,8 +38,8 @@ def cbLaneControl(self,lane_control_msg):
     def publishControl(self,event):
         car_control_msg = CarControl()
         car_control_msg.need_steering = False
-        car_control_msg.speed = self.joy.axes[1]*self.speed_gain #Left stick V-axis. Up is positive
-        car_control_msg.steering = self.joy.axes[3]*self.steer_gain #Right stick H-axis. Right is negative
+        car_control_msg.speed = self.joy.axes[1] #*self.speed_gain #Left stick V-axis. Up is positive
+        car_control_msg.steering = self.joy.axes[3] #*self.steer_gain #Right stick H-axis. Right is negative
         self.pub_control.publish(car_control_msg)