Generic Controller JoyDriver w/Teleop for ROS2 Humble

Simple No-Nonsense Controller JoyDriver With Teleop for ROS2 Humble, using controller_joy_node.

How to use:

Firstly, initialize the controller interface:

c_interface = std::make_unique<controller_interface::ControllerInterface>();

And then set a callback joy msg:

void Example::onJoyCallback(sensor_msgs::msg::Joy::ConstSharedPtr joy_msg) {
  c_interface->setJoyMsg(joy_msg);  // set joy message

  // Sample 
  if (c_interface->pressedDPadDown()) {
    ...
  }
...

Teleop:

Teleop is mapped to the left joystick by default, also using the DPad to adjust angular and linear speed. These two parameters and more can be altered through the params.yaml file.

Test:

The included test node can be used to check if the button mappings are correct.

Supported controllers:

Supported?	Hardware Name
Yes	Xbox 360 Controller
Yes	Xbox One Controller
Yes	Dualshock4
Yes	Dualshock3
Yes	Generic Logitech Controller
Not tested yet	Dualsense
Not tested yet	Xbox Series X Controller

Additional notes:

Originally forked from: PlayStation-JoyInterface-ROS2
Now with correct button mappings for DualShock4, support for Joystick button click, touchpad click and much more.