Joy config system + Xbox & Airbus support#106
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ryangeo17 wants to merge 5 commits intoumdloop:mainfrom
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Joy config system + Xbox & Airbus support#106ryangeo17 wants to merge 5 commits intoumdloop:mainfrom
ryangeo17 wants to merge 5 commits intoumdloop:mainfrom
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ryangeo17
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Apr 28, 2026
ryangeo17
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- Replaced hardcoded PS4/Thrustmaster logic in joystick_publisher.py w/ axes normalization driven by a central joy.yaml config file. The publisher now reads controller axis definitions and subsystem slot mappings from YAML, publishes to controller_input/{joystick_type}, and selects a device by name via a JOYSTICK_NAMES dict.
- Added the TCA Sidestick Airbus as the controller for the arm, and Xbox controller for science.
- Each controller_input topic has a different topic for each controller (e.g. "controller_input/xbox", "controller_input/airbus").
- Changed joystick type params for all subsytems to be strings and not integers (0/1 -> "xbox", "airbus").
- Each subsystem's launch file reads joystick_type from their joystick.yaml at launch time
- Added documentation in the joy.yaml file so its clear what each axes/button does what.
-Added joy.yaml config file for joystick_publisher -Updated joystick_publisher to read from joy.yaml instead of hardcoding values -Updated joystick.yaml files for arm, drive, and science to match the new config file structure -Added multiple controllers by adding different topics for each controller
- Add joy.yaml to setup.py install rules so it deploys to share/ - Fix yaml parsing to include /** top-level key - Add JOYSTICK_NAMES dict to map config keys to pygame device names - Fix hardcoded 13-button assumption causing KeyError on Xbox controller - Fix joystick_type string in drive config (space broke ROS2 remap parsing)
-Added Airbus TCA Sidestick profile and migrated arm to airbus controller -Added range_inverted param for throttle axes on airbus and thrustmaster -Wrote controller documentation in the joy.yaml file
- Moved joy remap to teleop_twist_joy node (correct direction) - Fixed science lift button index: buttons[12] → buttons[1] (Xbox has no button 12) - Updated joy.yaml comments to clarify actual axis/button assignments
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