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<launch>
<arg name="joydev" default="/dev/input/js0" />
<arg name="sim" default="false" />
<node name="joy_core" pkg="joy" type="joy_node">
<param name="dev" type="string" value="$(arg joydev)" />
</node>
<node name="preset_reconfigure" pkg="crane_x7_control" type="preset_reconfigure.py" required="true" unless="$(arg sim)"/>
<node name="joystick_example" pkg="crane_x7_examples" type="joystick_example.py" required="true" output="screen">
<!-- 使用するジョイスティックコントローラに合わせてvalueを変更してください -->
<!-- ひとつのボタンに複数の機能を割り当てています -->
<param name="button_shutdown_1" value="8" type="int" />
<param name="button_shutdown_2" value="9" type="int" />
<param name="button_name_enable" value="7" type="int" />
<param name="button_name_home" value="8" type="int" />
<param name="button_preset_enable" value="7" type="int" />
<param name="button_preset_no1" value="9" type="int" />
<param name="button_teaching_enable" value="3" type="int" />
<param name="button_teaching_save" value="2" type="int" />
<param name="button_teaching_load" value="0" type="int" />
<param name="button_teaching_delete" value="1" type="int" />
<param name="button_grip_enable" value="5" type="int" />
<param name="axis_gripper" value="3" type="int" />
<param name="button_posi_enable" value="4" type="int" />
<param name="button_rpy_enable" value="6" type="int" />
<param name="axis_position_x" value="0" type="int" />
<param name="axis_position_y" value="1" type="int" />
<param name="axis_position_z" value="3" type="int" />
</node>
</launch>
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