From 0e089d2335ac1db84fc0b91e78556bff056878a0 Mon Sep 17 00:00:00 2001
From: Jacob Perron <jacobmperron@gmail.com>
Date: Tue, 1 Sep 2015 17:23:51 -0700
Subject: [PATCH 1/3] Zero cmd_vel on takeoff, reset, and land.

---
 src/teleop_twist.cpp | 13 +++++++++++++
 1 file changed, 13 insertions(+)

diff --git a/src/teleop_twist.cpp b/src/teleop_twist.cpp
index dacd2650..303a59e0 100644
--- a/src/teleop_twist.cpp
+++ b/src/teleop_twist.cpp
@@ -160,10 +160,21 @@ void CmdVelCallback(const geometry_msgs::TwistConstPtr &msg)
   vp_os_mutex_unlock(&twist_lock);
 }
 
+void ZeroCmdVel()
+{
+ cmd_vel.linear.x = 0.0; 
+ cmd_vel.linear.y = 0.0; 
+ cmd_vel.linear.z = 0.0; 
+ cmd_vel.angular.x = 0.0; 
+ cmd_vel.angular.y = 0.0; 
+ cmd_vel.angular.z = 0.0; 
+}
+
 void LandCallback(const std_msgs::Empty &msg)
 {
   vp_os_mutex_lock(&twist_lock);
   needs_land = true;
+  ZeroCmdVel();
   vp_os_mutex_unlock(&twist_lock);
 }
 
@@ -171,6 +182,7 @@ void ResetCallback(const std_msgs::Empty &msg)
 {
   vp_os_mutex_lock(&twist_lock);
   needs_reset = true;
+  ZeroCmdVel();
   vp_os_mutex_unlock(&twist_lock);
 }
 
@@ -178,6 +190,7 @@ void TakeoffCallback(const std_msgs::Empty &msg)
 {
   vp_os_mutex_lock(&twist_lock);
   needs_takeoff = true;
+  ZeroCmdVel();
   vp_os_mutex_unlock(&twist_lock);
 }
 

From 7bee29e024f723dfbb4ec5c39fbb795e8b30fa95 Mon Sep 17 00:00:00 2001
From: Jacob Perron <jacobmperron@gmail.com>
Date: Tue, 15 Sep 2015 14:47:46 -0700
Subject: [PATCH 2/3] Added launch file and package dependencies for joystick
 control.

---
 config/log710.yaml       | 59 ++++++++++++++++++++++++++++++++++++++++
 launch/joy_teleop.launch | 22 +++++++++++++++
 package.xml              |  2 ++
 3 files changed, 83 insertions(+)
 create mode 100644 config/log710.yaml
 create mode 100644 launch/joy_teleop.launch

diff --git a/config/log710.yaml b/config/log710.yaml
new file mode 100644
index 00000000..7bd9c556
--- /dev/null
+++ b/config/log710.yaml
@@ -0,0 +1,59 @@
+# 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: []
+  flattrim:
+    type: topic
+    message_type: "std_msgs/Empty"
+    topic_name: flattrim
+    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: []
diff --git a/launch/joy_teleop.launch b/launch/joy_teleop.launch
new file mode 100644
index 00000000..ad042f69
--- /dev/null
+++ b/launch/joy_teleop.launch
@@ -0,0 +1,22 @@
+<?xml version="1.0" ?>
+<!-- based on example launch files from joy_teleop and teleop_twist_joy packages -->
+<!-- TODO(BUG): group tag prevents this file to be included cleanly from other launch files -->
+<launch>
+  <arg name="joy_dev" default="/dev/input/js0" />
+  <arg name="joy_config" default="log710" />
+  <arg name="teleop_config" default="$(find ardrone_autonomy)/config/$(arg joy_config).yaml" />
+
+  <group ns="ardrone">
+    <rosparam file="$(arg teleop_config)" command="load" />
+
+    <node pkg="joy" type="joy_node" name="joy_node">
+      <param name="dev" value="$(arg joy_dev)" />
+      <param name="deadzone" value="0.2" />
+      <param name="autorepeat_rate" value="20" />
+    </node>
+
+    <node pkg="joy_teleop" type="joy_teleop.py" name="joy_teleop">
+    </node>
+  </group>
+
+</launch>
diff --git a/package.xml b/package.xml
index 8ecb9db0..399fd23e 100644
--- a/package.xml
+++ b/package.xml
@@ -47,6 +47,8 @@
   <run_depend>camera_info_manager</run_depend>
   <run_depend>message_runtime</run_depend>
   <run_depend>nav_msgs</run_depend>
+  <run_depend>joy</run_depend>
+  <run_depend>joy_teleop</run_depend>
 
   <export>
     <rosdoc config="rosdoc.yaml"/>

From 8960fb310f9cc6eb02e64a1c05f9a434ad3d81de Mon Sep 17 00:00:00 2001
From: Mani Monajjemi <mani.monajjemi@gmail.com>
Date: Tue, 15 Sep 2015 15:12:07 -0700
Subject: [PATCH 3/3] Tested joystick control. Added reset mapping.

---
 config/log710.yaml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/config/log710.yaml b/config/log710.yaml
index 7bd9c556..2b87dd39 100644
--- a/config/log710.yaml
+++ b/config/log710.yaml
@@ -4,7 +4,7 @@ teleop:
   piloting:
     type: topic
     message_type: "geometry_msgs/Twist"
-    topic_name: cmd_vel
+    topic_name: /cmd_vel
     deadman_buttons: [7]
     axis_mappings:
       -
@@ -45,10 +45,10 @@ teleop:
     topic_name: reset
     deadman_buttons: [2, 7] # RT + B
     axis_mappings: []
-  flattrim:
+  reset:
     type: topic
     message_type: "std_msgs/Empty"
-    topic_name: flattrim
+    topic_name: reset
     deadman_buttons: [4, 5] # RT + X
     axis_mappings: []
   flip: