Update the launch file to work with modern joy. (#52) (#54)

It should use "device_id" (not "dev") as the parameter,
and the parameter should be a number, not a path (this is
effectively the SDL device number, which is cross-platform).

Signed-off-by: Chris Lalancette <[email protected]>
(cherry picked from commit e4856e4)

# Conflicts:
#	README.md

Co-authored-by: Chris Lalancette <[email protected]>

README.md

@@ -2,10 +2,11 @@ ros2/teleop_twist_joy
 =====================
 
 # Overview
-The purpose of this package is to provide a generic facility for tele-operating Twist-based ROS2 robots with a standard joystick.
+The purpose of this package is to provide a generic facility for tele-operating Twist-based ROS 2 robots with a standard joystick.
 It converts joy messages to velocity commands.
 
-This node provides no rate limiting or autorepeat functionality. It is expected that you take advantage of the features built into [joy](https://index.ros.org/p/joy/github-ros-drivers-joystick_drivers/#foxy) for this.
+This node provides no rate limiting or autorepeat functionality.
+It is expected that you take advantage of the features built into [joy](https://index.ros.org/p/joy/github-ros-drivers-joystick_drivers) for this.
 
 ## Executables
 The package comes with the `teleop_node` that republishes `sensor_msgs/msg/Joy` messages as scaled `geometry_msgs/msg/Twist` messages.
@@ -82,7 +83,7 @@ For most users building from source will not be required, execute `apt-get insta
 ## Run
 A launch file has been provided which has three arguments which can be changed in the terminal or via your own launch file.
 To configure the node to match your joystick a config file can be used.
-There are several common ones provided in this package (atk3, ps3-holonomic, ps3, xbox, xd3), located here: https://github.com/ros2/teleop_twist_joy/tree/eloquent/config.
+There are several common ones provided in this package (atk3, ps3-holonomic, ps3, xbox, xd3), located here: https://github.com/ros2/teleop_twist_joy/tree/iron/config.
 
 PS3 is default, to run for another config (e.g. xbox) use this:
 ````
@@ -95,7 +96,7 @@ __Note:__ this launch file also launches the `joy` node so do not run it separat
 ## Arguments
 - `joy_config (string, default: 'ps3')`
   - Config file to use
-- `joy_dev (string, default: 'dev/input/js0')`
+- `joy_dev (string, default: '0')`
   - Joystick device to use
 - `config_filepath (string, default: '/opt/ros/<rosdistro>/share/teleop_twist_joy/config/' + LaunchConfig('joy_config') + '.config.yaml')`
   - Path to config files

launch/teleop-launch.py

@@ -15,7 +15,7 @@ def generate_launch_description():
     return launch.LaunchDescription([
         launch.actions.DeclareLaunchArgument('joy_vel', default_value='cmd_vel'),
         launch.actions.DeclareLaunchArgument('joy_config', default_value='ps3'),
-        launch.actions.DeclareLaunchArgument('joy_dev', default_value='/dev/input/js0'),
+        launch.actions.DeclareLaunchArgument('joy_dev', default_value='0'),
         launch.actions.DeclareLaunchArgument('publish_stamped_twist', default_value='false'),
         launch.actions.DeclareLaunchArgument('config_filepath', default_value=[
             launch.substitutions.TextSubstitution(text=os.path.join(
@@ -25,7 +25,7 @@ def generate_launch_description():
         launch_ros.actions.Node(
             package='joy', executable='joy_node', name='joy_node',
             parameters=[{
-                'dev': joy_dev,
+                'device_id': joy_dev,
                 'deadzone': 0.3,
                 'autorepeat_rate': 20.0,
             }]),