Added some controller handling to captain, removed old ramping logic. Links and Topics

Author: KKalem

messages/dji_msgs/msg/Links.msg

@@ -3,10 +3,12 @@
 # Most are published by the dji_captain node
 #
 
-string ODOM = 'odom'
 string UTM = 'utm'
+string MAP = 'map'
+string ODOM = 'odom'
+string HOME_POINT = 'home_point'
+
 string BASE_LINK = 'base_link'
 string BASE_FLAT = 'base_flat_link'
 string BASE_ENU = 'base_ENU_link'
-string HOME_POINT = 'home_point'
 

messages/dji_msgs/msg/Topics.msg

@@ -1,7 +1,8 @@
 # Used by the dji_captain, namespaced as needed.
-# Usually under /Quadrotor
+# Usually under /M350
 string MOVE_TO_SETPOINT_TOPIC = 'move_to_setpoint'
-string JOYSTICK_INPUT_TOPIC = 'joy'
+string CONTROLLER_INPUT_TOPIC = 'joy'
+string CONTROLLER_VIBRATION_TOPIC = 'joy/set_feedback'
 string TTS_TOPIC = 'speak'
 
 

scripts/smarc_bringups/launch/speaking_joy.launch

@@ -0,0 +1,10 @@
+<launch>
+    <arg name="robot_name" default="M350"/>
+    
+    <group>
+    <push-ros-namespace namespace="$(var robot_name)"/>
+            <node name="joy" pkg="joy" exec="game_controller_node" output="screen"/>
+            <node name="speaker" pkg="smarc_utilities" exec="simple_tts" output="screen"/>
+    </group>
+
+</launch>