uscauv-legacy/old-uscauv-ros-pkg

Teleop Policy

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canondetortugas commented

Make a class for providing teleop functionality to task nodes. Task nodes will inherit from this class. It will subscribe to /joy and allow nodes to access the state of joystick devices. It will have methods along the lines of getButton('A') for directly getting the state of different buttons and will have methods like getEnableButton(), getPrimaryButton(), etc. Where the mapping from buttons like A to labels such as 'primary' will be set by a config file loaded at runtime. Not sure how axes will be handled yet.