From bd8c72f16e094176de88f4f23eaba753220f58c4 Mon Sep 17 00:00:00 2001
From: Binit Shah <bshah@hello-robot.com>
Date: Mon, 23 Oct 2023 21:09:24 -0700
Subject: [PATCH] Fix joystick velocity teleop deadman button

A bug in how the deadman button was set prevented users from being able to send Twist commands to the cmd_vel topic using the Joystick controller in the teleop_twist.launch file.
---
 stretch_core/launch/teleop_twist.launch | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/stretch_core/launch/teleop_twist.launch b/stretch_core/launch/teleop_twist.launch
index 80602cd..f1e86b7 100644
--- a/stretch_core/launch/teleop_twist.launch
+++ b/stretch_core/launch/teleop_twist.launch
@@ -23,7 +23,7 @@
         <param name="deadzone" value="0.05" />
     </node>
     <node name="teleop_twist_joy" pkg="teleop_twist_joy" type="teleop_node">
-        <param name="enable_button" type="int" value="-1" /> <!-- value="0" to enable deadman button -->
+        <param name="enable_button" type="int" value="0" /> <!-- The 'A' button (green one) on the controller is the deadman button -->
         <param name="scale_linear" type="double" value="$(arg linear)" />
         <param name="scale_angular" type="double" value="$(arg angular)" />
         <remap from="/cmd_vel" to="$(arg twist_topic)" />