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Add optional axes initial value parameter to handle the trigger behavior #214

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Add optional axes initial value parameter to handle the trigger behavior #214

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8 changes: 7 additions & 1 deletion joy/src/joy_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -68,6 +68,7 @@ class Joystick
std::string joy_dev_name_;
std::string joy_dev_ff_;
double deadzone_;
std::vector<double> axes_init_value_; // initial value for axes, default 0
double autorepeat_rate_; // in Hz. 0 for no repeat.
double coalesce_interval_; // Defaults to 100 Hz rate limit.
int event_count_;
Expand Down Expand Up @@ -310,6 +311,7 @@ class Joystick
nh_param.param<std::string>("dev_ff", joy_dev_ff_, "/dev/input/event0");
nh_param.param<std::string>("dev_name", joy_dev_name_, "");
nh_param.param<double>("deadzone", deadzone_, 0.05);
nh_param.param<std::vector<double>>("axes_init_value", axes_init_value_, std::vector<double>());
nh_param.param<double>("autorepeat_rate", autorepeat_rate_, 0);
nh_param.param<double>("coalesce_interval", coalesce_interval_, 0.001);
nh_param.param<bool>("default_trig_val", default_trig_val_, false);
Expand Down Expand Up @@ -559,9 +561,13 @@ class Joystick
{
size_t old_size = joy_msg.axes.size();
joy_msg.axes.resize(event.number+1);
if (old_size > axes_init_value_.size())
{
axes_init_value_.resize(event.number+1, 0.);
}
for (size_t i = old_size; i < joy_msg.axes.size(); i++)
{
joy_msg.axes[i] = 0.0;
joy_msg.axes[i] = axes_init_value_[i];
}
}
if (default_trig_val_)
Expand Down