Added support for PS4 joystick

[TrippleBender]

Description

Please explain the changes you made, including a reference to the related issue if applicable

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extend the tutorials / documentation reference
• Document API changes relevant to the user in the MIGRATION.md notes
• Create tests, which fail without this PR reference
• Include a screenshot if changing a GUI
• While waiting for someone to review your request, please help review another open pull request to support the maintainers

[welcome]

Thanks for helping in improving MoveIt and open source robotics!

[v4hn]

I can't test this at the moment, but I guess you did to come up with an assignment.

That's good enough for me here.

[TrippleBender]

I added support for the PS4 Controller. Also added a description in the tutorial

[codecov-io]

Codecov Report

Merging #2060 into master will decrease coverage by 0.34%.
The diff coverage is n/a.

@@            Coverage Diff             @@
##           master    #2060      +/-   ##
==========================================
- Coverage   54.51%   54.17%   -0.35%     
==========================================
  Files         328      328              
  Lines       25624    25624              
==========================================
- Hits        13970    13882      -88     
- Misses      11654    11742      +88     

Impacted Files	Coverage Δ
...ls/include/moveit/py_bindings_tools/gil_releaser.h	0.00% <0.00%> (-100.00%)	⬇️
.../include/moveit/py_bindings_tools/py_conversions.h	0.00% <0.00%> (-86.67%)	⬇️
...s/include/moveit/py_bindings_tools/serialize_msg.h	0.00% <0.00%> (-80.00%)	⬇️
...ove_group_interface/src/wrap_python_move_group.cpp	31.96% <0.00%> (-11.08%)	⬇️
.../move_group_interface/src/move_group_interface.cpp	37.10% <0.00%> (-3.67%)	⬇️
...nning_scene_monitor/src/planning_scene_monitor.cpp	70.50% <0.00%> (-0.45%)	⬇️
...raint_samplers/src/default_constraint_samplers.cpp	82.90% <0.00%> (+0.36%)	⬆️
...meterization/work_space/pose_model_state_space.cpp	82.99% <0.00%> (+0.68%)	⬆️
...anning_scene_monitor/src/current_state_monitor.cpp	52.82% <0.00%> (+1.53%)	⬆️
.../ompl_interface/src/detail/constrained_sampler.cpp	64.10% <0.00%> (+17.94%)	⬆️

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[simonschmeisser]

Thanks for your first PR! This is how we move it! ;)

Please note that the text that is there when you open the PR is meant as a template, so please click edit and exchange Please explain the changes you made, including a reference to the related issue if applicable by a description of what you want to change and why. You later wrote that in a comment but it's to find and parse this way.

Also, next time, when you write Also added a description in the tutorial please add a link to the PR for the tutorial

[simonschmeisser]

In an ideal world I would prefer it if this code would not guess the type of input device from the number of buttons but that does not seem to be exposed by this very spartan msg api, so LGTM

[v4hn]

In an ideal world I would prefer it if this code would not guess the type of input device from the number of buttons but that does not seem to be exposed by this very spartan msg api, so LGTM

You could try to convince joy upstream to add the device id (Best case also unique between multiple devices) as frame_id. That's pretty much what I would expect from the field in this message.

[v4hn]

Merging with two approvals.

[welcome]

Congrats on getting your first MoveIt pull request merged and improving open source robotics!