feat: add joystick support

[winstxnhdw]

Summary

Depends on ROS2's joy package to add universal Linux-only joystick support. Queue size is set to zero because we only always want the latest inputs from the controller. Tested on an Xbox and Nintendo controller.

Usage

ros2 launch sjtu_drone_bringup sjtu_drone_bringup.launch.py controller:="joystick"

Let me know if any changes are required.

Closes #12

[codeautopilot]

PR summary

The Pull Request adds joystick support to the sjtu_drone package, which previously only supported keyboard input for teleoperation. It introduces a dependency on the ROS2 joy package, which is a Linux-only package for joystick input. The PR includes changes to the launch file to allow users to specify the type of controller (keyboard or joystick) and adds a new executable teleop_joystick for handling joystick inputs. The joystick support is tested with Xbox and Nintendo controllers.

Suggestion

The PR seems well-structured and follows the existing codebase conventions. However, it's important to ensure that the new dependency on the joy package is properly documented, and that installation instructions are provided for users who may not have it installed. Additionally, it might be beneficial to consider cross-platform compatibility for joystick support, as the current implementation is Linux-only.

Disclaimer: This comment was entirely generated using AI. Be aware that the information provided may be incorrect.

Current plan usage: 56.37%

Have feedback or need help?
Discord
Documentation
[email protected]