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Add R1 teleop #109

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Nov 22, 2023
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Add R1 teleop #109

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12 changes: 12 additions & 0 deletions jsk_spot_robot/jsk_spot_startup/launch/include/driver.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -67,6 +67,18 @@
<arg name="untuck_service" default="unstow_arm" />
<arg name="teleop_twist_joy_param_file" default="$(find jsk_spot_startup)/config/dualsense_teleop_twist_joy.yaml" />
</include>

<include file="$(find jsk_robot_startup)/launch/quadruped_joystick_teleop.launch" >
<arg name="pad_type" value="R1" />
<!--arg name="joy_dev" value="/dev/input/js0" /-->
<arg name="joy_dev" value="/dev/magicseejoy" />
<arg name="cmd_vel_topic" default="bluetooth_teleop/cmd_vel" />
<arg name="joy_name_space" default="/spot/" />
<arg name="dock_service" default="dock_fixed_id" />
<arg name="tuck_service" default="stow_arm" />
<arg name="untuck_service" default="unstow_arm" />
</include>

<!-- node to receive /spot/dock_fixed_no and calls /spot/dock -->
<node pkg="jsk_spot_startup" type="call_spot_dock_with_id.py" name="call_spot_dock_with_id">
<remap from="~dock_id" to="/spot/spot_ros/dock_id" />
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