From db4cc11602fedee68dd99d39471d1d0ba9c9b05e Mon Sep 17 00:00:00 2001
From: Shih-Yuan Liu <shihyuan.liu@gmail.com>
Date: Sat, 12 Dec 2015 00:34:10 +0800
Subject: [PATCH] Add joy_mapper_test.launch to test joy_mapper. Output
 steering and speed between -1 an 1.

---
 catkin_ws/.gitignore                                 |  4 ++--
 .../src/joy_mapper/launch/joy_mapper_test.launch     | 12 ++++++++++++
 catkin_ws/src/joy_mapper/script/joy_mapper.py        |  8 ++++----
 3 files changed, 18 insertions(+), 6 deletions(-)
 create mode 100644 catkin_ws/src/joy_mapper/launch/joy_mapper_test.launch

diff --git a/catkin_ws/.gitignore b/catkin_ws/.gitignore
index 7409b2073b..f936c19f60 100644
--- a/catkin_ws/.gitignore
+++ b/catkin_ws/.gitignore
@@ -1,2 +1,2 @@
-devel/
-build/
\ No newline at end of file
+build/
+devel/
\ No newline at end of file
diff --git a/catkin_ws/src/joy_mapper/launch/joy_mapper_test.launch b/catkin_ws/src/joy_mapper/launch/joy_mapper_test.launch
new file mode 100644
index 0000000000..437d69c915
--- /dev/null
+++ b/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>
\ No newline at end of file
diff --git a/catkin_ws/src/joy_mapper/script/joy_mapper.py b/catkin_ws/src/joy_mapper/script/joy_mapper.py
index d5bee2f2f9..a6ec243d5e 100755
--- a/catkin_ws/src/joy_mapper/script/joy_mapper.py
+++ b/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)