First Commit

Deploy_Tienkung/scripts/detect_xbox_buttons.py

@@ -0,0 +1,72 @@
+#!/usr/bin/env python3
+"""
+Listen to /joy and print which button indices change to 1 (pressed).
+Run while pressing your controller buttons to discover indices for select/start/turbo/home.
+"""
+import sys
+import argparse
+
+try:
+    import rclpy
+    from rclpy.node import Node
+    from sensor_msgs.msg import Joy
+except Exception:
+    # allow syntax check on systems without ROS present
+    rclpy = None
+    Joy = None
+
+
+class JoyWatcher(Node):
+    def __init__(self, topic: str = '/joy'):
+        super().__init__('joy_watcher')
+        self.subscription = self.create_subscription(Joy, topic, self.cb, 10)
+        self.prev_buttons = []
+        self.prev_axes = []
+        self.get_logger().info(f'Listening to {topic} - press controller buttons now...')
+
+    def cb(self, msg: Joy):
+        buttons = list(msg.buttons)
+        axes = list(msg.axes)
+        # init prev
+        if not self.prev_buttons:
+            self.prev_buttons = [0] * len(buttons)
+        if not self.prev_axes:
+            self.prev_axes = [0.0] * len(axes)
+        # detect button press events
+        pressed = [i for i, (p, n) in enumerate(zip(self.prev_buttons, buttons)) if p == 0 and n == 1]
+        if pressed:
+            self.get_logger().info(f'Buttons pressed (indices): {pressed}')
+            self.get_logger().info(f'Full buttons array: {buttons}')
+        # detect dpad-like axis changes (axes 6/7 common)
+        for i, (p, n) in enumerate(zip(self.prev_axes, axes)):
+            if p != n:
+                # only log significant changes
+                if abs(n - p) > 1e-3:
+                    self.get_logger().info(f'Axis {i} changed: {p} -> {n}')
+        self.prev_buttons = buttons[:]
+        self.prev_axes = axes[:]
+
+
+def main(argv=None):
+    parser = argparse.ArgumentParser()
+    parser.add_argument('--topic', default='/joy')
+    args = parser.parse_args(argv)
+
+    if rclpy is None:
+        print('rclpy not available in this environment. Run this script on a machine with ROS2 and a /joy publisher.')
+        return 1
+
+    rclpy.init()
+    node = JoyWatcher(topic=args.topic)
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+    return 0
+
+
+if __name__ == '__main__':
+    raise SystemExit(main())