teleop_twist_joy 游戏手柄ros使用

参考：
wiki官网链接
https://github.com/ros-teleop/teleop_twist_joy.git

查看每个按钮和轴对应的索引以及键值

# 1.通过话题查看
 rostopic echo /joy
# 2.直接查看 
 sudo jstest /dev/input/jsX 

参考：手柄驱动安装以及测试

配置文件说明

axis_linear: 1   
#Joystick axis to use for linear movement control.  
#控制线速度的 axis号
scale_linear: 0.5 
# Scale to apply to joystick linear axis for regular-speed movement, in m/s.
#普速模式最大线速度
scale_linear_turbo: 1.0 
#Scale to apply to joystick linear axis for high-speed movement, in m/s.
#高速模式最大线速度

axis_angular: 0 
#Joystick axis to use for angular movement control.
# 控制角速度的 axis号
scale_angular: 1.0 
# Scale to apply to joystick linear axis for regular-speed movement, in m/s.
#普通速度模式最大角速度
scale_angular_turbo: 1.0 
# Scale to apply to joystick angular axis for high-speed movement, in rad/s.
#高速模式速度模式最大角速度
enable_button: 6 # button6
enable_turbo_button: 4 #LB键 是button4