Remapped controller

kipp_arm/src/moveit_spear/config/moveit_servo_config.yaml

@@ -4,10 +4,10 @@
       command_in_type: "unitless" # "unitless"> in the range [-1:1], as if from joystick. "speed_units"> cmds are in m/s and rad/s
       scale:
         # Scale parameters are only used if command_in_type=="unitless"
-        linear:  0.2  # Max linear velocity. Unit is [m/s]. Only used for Cartesian commands.
-        rotational:  8.0 # Max angular velocity. Unit is [rad/s]. Only used for Cartesian commands.
+        linear:  1.5  # Max linear velocity. Unit is [m/s]. Only used for Cartesian commands.
+        rotational:  0.9 # Max angular velocity. Unit is [rad/s]. Only used for Cartesian commands.
         # Max joint angular/linear velocity. Only used for joint commands on joint_command_in_topic.
-        joint: 0.9
+        joint: 1.5
 
       # Optionally override Servo's internal velocity scaling when near singularity or collision (0.0 = use internal velocity scaling)
       # override_velocity_scaling_factor = 0.0 # valid range [0.0:1.0]

kipp_arm/src/teleop/teleop/moded_joy_arm.py

@@ -124,10 +124,10 @@ def ConvertJoyToCommand(self):
             eef_open_msg.data = self.joystick_msg.axes[RIGHT_BUMPER]
             self.publisher_.publish(eef_open_msg)
 
-        if self.joystick_msg.buttons[RIGHT_TRIGGER]:
+        if self.joystick_msg.buttons[LEFT_BUMPER]:
             i += 1
             eef_close_msg = Float32()
-            eef_close_msg.data = -self.joystick_msg.axes[RIGHT_TRIGGER]
+            eef_close_msg.data = -self.joystick_msg.axes[LEFT_BUMPER]
             self.publisher_.publish(eef_close_msg)
 
         if i > 0:
@@ -145,9 +145,10 @@ def publish_twist_command(self):
         self.twist_msg.header.stamp = self.get_clock().now().to_msg()
         self.twist_msg.header.frame_id = "base_link"
 
-        lin_x_left_bumper = (self.joystick_msg.buttons[LEFT_BUMPER])
-        lin_x_left_trigger = -0.5 * (self.joystick_msg.axes[LEFT_TRIGGER]+1)
-        lin_x = lin_x_left_bumper + lin_x_left_trigger
+        lin_x_right_trigger = -0.5 * (self.joystick_msg.axes[RIGHT_TRIGGER]+1)
+        self.get_logger().info(f"RIGHT {lin_x_right_trigger}")
+        lin_x_left_trigger = 0.5 * (self.joystick_msg.axes[LEFT_TRIGGER]+1)
+        lin_x = lin_x_right_trigger + lin_x_left_trigger
 
         if abs(lin_x) > deadband_threshold or abs(self.joystick_msg.axes[LEFT_STICK_Y]) > deadband_threshold or abs(self.joystick_msg.axes[LEFT_STICK_X]) > deadband_threshold:
             self.twist_msg.twist.linear.z = -self.joystick_msg.axes[LEFT_STICK_Y]
@@ -172,6 +173,8 @@ def publish_joint_command(self):
 
     def JoystickMsg(self, msg):
         self.joystick_msg = msg
+        self.get_logger().info(f"Joystick Axes Values: {msg.axes}")
+        self.get_logger().info(f"Joystick Button Values: {msg.buttons}")
 
 def main(args=None):
     rclpy.init(args=args)