[launch] add launch and config files for teleoperate irobot_01 with ps4 wireless controller.

CMakeLists.txt

@@ -26,6 +26,7 @@ install(
     launch
     models
     worlds
+    config
   DESTINATION
     share/${PROJECT_NAME}/
 )

config/ps3.config.yaml

+teleop_twist_joy_node:
+  ros__parameters:
+    axis_linear:
+      x: 1
+    scale_linear:
+      x: 0.7
+    scale_linear_turbo:
+      x: 1.5
+
+    axis_angular:
+      yaw: 0
+    scale_angular:
+      yaw: 0.4
+
+    enable_button: 2  # L2 shoulder button
+    enable_turbo_button: 10  # L1 shoulder button

launch/teleop-isae-launch.py

+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+import launch
+import launch_ros.actions
+
+
+def generate_launch_description():
+    joy_config = launch.substitutions.LaunchConfiguration('joy_config')
+    joy_dev = launch.substitutions.LaunchConfiguration('joy_dev')
+    config_filepath = launch.substitutions.LaunchConfiguration('config_filepath')
+
+    return launch.LaunchDescription([
+        launch.actions.DeclareLaunchArgument('joy_vel', default_value='/irobot01/cmd_vel'),
+        launch.actions.DeclareLaunchArgument('joy_config', default_value='ps3'),
+        launch.actions.DeclareLaunchArgument('joy_dev', default_value='/dev/input/js0'),
+        launch.actions.DeclareLaunchArgument('config_filepath', default_value=[
+            launch.substitutions.TextSubstitution(text=os.path.join(
+                get_package_share_directory('isae_simulations_package'), 'config', '')),
+            joy_config, launch.substitutions.TextSubstitution(text='.config.yaml')]),
+
+        launch_ros.actions.Node(
+            package='joy', executable='joy_node', name='joy_node',
+            parameters=[{
+                'dev': joy_dev,
+                'deadzone': 0.3,
+                'autorepeat_rate': 20.0,
+            }]),
+        launch_ros.actions.Node(
+            package='teleop_twist_joy', executable='teleop_node',
+            name='teleop_twist_joy_node', parameters=[config_filepath],
+            remappings={('/cmd_vel', launch.substitutions.LaunchConfiguration('joy_vel'))},
+            ),
+    ])