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ExoMy_Software-master/src/joystick_parser_node.py

@@ -14,6 +14,8 @@ locomotion_mode = LocomotionMode.ACKERMANN.value
 motors_enabled = True
 AXIS_DEADZONE = 0.1
 last_start_button_pressed = False
+last_webgui_time = None
+WEBGUI_PRIORITY_TIMEOUT = 2.0
 
 VELOCITY_EXPO = 2.0
 
@@ -23,6 +25,7 @@ CONTROLLER_FUNCTION_MAPS = {
         "x_axis": 0,
         "y_axis": 1,
         "invert_x_axis": True,
+        "invert_y_axis": False,
         "X_button": 0,
         "Y_button": 3,
         "A_button": 1,
@@ -34,7 +37,8 @@ CONTROLLER_FUNCTION_MAPS = {
     "logitech-F710": {
         "x_axis": 0,
         "y_axis": 1,
-        "invert_x_axis": False,
+        "invert_x_axis": True,
+        "invert_y_axis": True,
         "X_button": 0,
         "Y_button": 3,
         "A_button": 1,
@@ -47,6 +51,7 @@ CONTROLLER_FUNCTION_MAPS = {
         "x_axis": 0,
         "y_axis": 1,
         "invert_x_axis": False,
+        "invert_y_axis": False,
         "X_button": 2,
         "Y_button": 3,
         "A_button": 0,
@@ -94,6 +99,15 @@ def callback(data):
     global locomotion_mode
     global motors_enabled
     global last_start_button_pressed
+    global last_webgui_time
+
+    is_webgui = data.header.frame_id == "webgui"
+    now = rospy.Time.now()
+
+    if is_webgui:
+        last_webgui_time = now
+    elif last_webgui_time is not None and (now - last_webgui_time).to_sec() < WEBGUI_PRIORITY_TIMEOUT:
+        return
 
     rover_cmd = RoverCommand()
 
@@ -118,6 +132,8 @@ def callback(data):
 
     if controller_function_map["invert_x_axis"]:
         x *= -1
+    if controller_function_map["invert_y_axis"]:
+        y *= -1
 
     # Reading out button data to set locomotion mode
     # X Button