From d785b29242ee8eabc9335f2f81dcc1925a65007c Mon Sep 17 00:00:00 2001
From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Tue, 17 Sep 2019 03:24:53 -0300
Subject: [PATCH] Add launch file for Logitech Wingman joystick.

---
 .gitignore                                        | 51 +++++++++++++++++++++++
 wam_common/wam_teleop/launch/wam_wingman.launch   | 37 ++++++++++++++++
 wam_common/wam_teleop/src/wam_joystick_teleop.cpp |  2 +-
 3 files changed, 89 insertions(+), 1 deletion(-)
 create mode 100644 wam_common/wam_teleop/launch/wam_wingman.launch

diff --git a/.gitignore b/.gitignore
index e69de29..149ae5b 100644
--- a/.gitignore
+++ b/.gitignore
@@ -0,0 +1,51 @@
+devel/
+logs/
+build/
+bin/
+lib/
+msg_gen/
+srv_gen/
+msg/*Action.msg
+msg/*ActionFeedback.msg
+msg/*ActionGoal.msg
+msg/*ActionResult.msg
+msg/*Feedback.msg
+msg/*Goal.msg
+msg/*Result.msg
+msg/_*.py
+build_isolated/
+devel_isolated/
+
+# Generated by dynamic reconfigure
+*.cfgc
+/cfg/cpp/
+/cfg/*.py
+
+# Ignore generated docs
+#*.dox
+*.wikidoc
+
+# eclipse stuff
+.project
+.cproject
+
+# qcreator stuff
+CMakeLists.txt.user
+
+srv/_*.py
+*.pcd
+*.pyc
+qtcreator-*
+*.user
+
+/planning/cfg
+/planning/docs
+/planning/src
+
+*~
+
+# Emacs
+.#*
+
+# Catkin custom files
+#CATKIN_IGNORE
diff --git a/wam_common/wam_teleop/launch/wam_wingman.launch b/wam_common/wam_teleop/launch/wam_wingman.launch
new file mode 100644
index 0000000..42b158d
--- /dev/null
+++ b/wam_common/wam_teleop/launch/wam_wingman.launch
@@ -0,0 +1,37 @@
+<launch>
+
+  <!-- joy node -->
+  <node name="joy_node" pkg="joy" type="joy_node" respawn="true">
+    <param name="dev" type="string" value="/dev/input/js0" />
+    <param name="deadzone" value="0.12" />
+  </node>
+
+  <!-- WAM Teleop Node -->
+  <node pkg="wam_teleop" type="wam_joystick_teleop" name="wam_wingman" output="screen" />
+
+
+  <param name="deadman_button" type="int" value="0" /> 		<!-- fire -->
+  <param name="guardian_deadman_button" type="int" value="4" />	<!-- O5 -->
+
+  <param name="gripper_open_button" type="int" value="9" />	<!-- H2 up -->
+  <param name="gripper_close_button" type="int" value="11" />	<!-- H2 down -->
+  <param name="spread_open_button" type="int" value="10" />	<!-- H2 right -->
+  <param name="spread_close_button" type="int" value="12" />	<!-- H2 left -->
+
+  <param name="orientation_control_button" type="int" value="3" /> <!-- O4 -->
+  <param name="go_home_button" type="int" value="1" />		<!-- O2 -->
+  <param name="hold_joints_button" type="int" value="2" />	<!-- O3 -->
+
+  <param name="grasp_max_velocity" type="double" value="1.0" />
+  <param name="spread_max_velocity" type="double" value="1.0" />
+  <param name="cartesian_magnitude" type="double" value="0.05" />
+  <param name="orientation_magnitude" type="double" value="1.0" />
+
+  <param name="cartesian_x_axis" type="int" value="0" />	<!-- X axis -->
+  <param name="cartesian_y_axis" type="int" value="1" />	<!-- Y axis -->
+  <param name="cartesian_z_axis" type="int" value="2" />	<!-- Z axis -->
+
+  <param name="orientation_roll_axis" type="int" value="0" />	<!-- X axis -->
+  <param name="orientation_pitch_axis" type="int" value="1" />	<!-- Y axis -->
+  <param name="orientation_yaw_axis" type="int" value="2" />	<!-- Z axis -->
+</launch>
diff --git a/wam_common/wam_teleop/src/wam_joystick_teleop.cpp b/wam_common/wam_teleop/src/wam_joystick_teleop.cpp
index c8f9300..b21ac72 100644
--- a/wam_common/wam_teleop/src/wam_joystick_teleop.cpp
+++ b/wam_common/wam_teleop/src/wam_joystick_teleop.cpp
@@ -96,7 +96,7 @@ void WamTeleop::init()
   n_.param("orientation_magnitude", ortn_mag, 1.0);
   n_.param("cartesian_x_axis", axis_x, 3);
   n_.param("cartesian_y_axis", axis_y, 2);
-  n_.param("cartesian_x_axis", axis_z, 1);
+  n_.param("cartesian_z_axis", axis_z, 1);
   n_.param("orientation_roll_axis", axis_r, 3);
   n_.param("orientation_pitch_axis", axis_p, 2);
   n_.param("orientation_yaw_axis", axis_yaw, 1);
-- 
2.12.0