ardrone_autonomy/config/log710.yaml at 8960fb310f9cc6eb02e64a1c05f9a434ad3d81de · AutonomyLab/ardrone_autonomy · GitHub

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# Logitech F710 wireless controller
# Deadman (enable) button: Right Trigger
teleop:
  piloting:
    type: topic
    message_type: "geometry_msgs/Twist"
    topic_name: /cmd_vel
    deadman_buttons: [7]
    axis_mappings:
      -
        axis: 3  # Right thumb stick (up/down)
        target: linear.x
        scale: 1.0
        offset: 0.0
      -
        axis: 2  # Right thumb stick (left/right)
        target: linear.y
        scale: -1.0
        offset: 0.0
      -
        axis: 1  # Left thumb stick (up/down)
        target: linear.z
        scale: 1.0
        offset: 0.0
      -
        axis: 0  # Left thumb stick (left/right)
        target: angular.z
        scale: -1.0
        offset: 0.0
  takeoff:
    type: topic
    message_type: "std_msgs/Empty"
    topic_name: takeoff
    deadman_buttons: [3, 7]  # RT + Y
    axis_mappings: []
  land:
    type: topic
    message_type: "std_msgs/Empty"
    topic_name: land
    deadman_buttons: [1, 7]  # RT + A
    axis_mappings: []
  emergency:
    type: topic
    message_type: "std_msgs/Empty"
    topic_name: reset
    deadman_buttons: [2, 7] # RT + B
    axis_mappings: []
  reset:
    type: topic
    message_type: "std_msgs/Empty"
    topic_name: reset
    deadman_buttons: [4, 5] # RT + X
    axis_mappings: []
  flip:
    type: topic
    message_type: "std_msgs/UInt8"
    topic_name: flip
    deadman_buttons: [6, 7, 0] # RT + LT + X
    axis_mappings: []