Commit @008090ceaf8dff909255da9382844270e8b827e4 - yjyoon/ros2_플레이스테이션

+PlayStation Joy Controller Interface Package for ROS2.

+## Supported controllers

+| Status | Hardware Name |

+| ------ | ------------- |

+| ⬜️      | `DualShock3`  |

+| ⬜️      | `DualShock4`  |

+| ✅      | `Dualsense`   |

+## How to use the interface library

+1. Initialize controller interface with the specific hardware type.

+```cpp

+// Initialize Interface

+const std::string hw_type = "Dualsense";

+ps_interface =

+  std::make_unique<p9n_interface::PlayStationInterface>(hw_type);

+```

+2. Set `sensor_msg::msg::joy` to interface. Then you can access any button state via the interface.

+```cpp

+void Example::onJoyCallback(sensor_msgs::msg::Joy::ConstSharedPtr joy_msg) {

+  ps_interface->setJoyMsg(joy_msg);  // set joy message to interface

+  // When Circle Button Pressed..

+  if(ps_interface->pressedCircle()) {

+    // You can hook action here

+...

+```

+## Buttons and Interface functions.

+| Target          | Type    | Function Name         | Description                                                       |

+| --------------- | ------- | --------------------- | ----------------------------------------------------------------- |

+| Any             | `bool`  | `pressedAny();`       | Return `true` when pressed                                        |

+| □               | `bool`  | `pressedSquare();`    |                                                                   |

+| ○               | `bool`  | `pressedCircle();`    |                                                                   |

+| □               | `bool`  | `pressedTriangle();`  |                                                                   |

+| ☓               | `bool`  | `pressedCross();`     |                                                                   |

+| L1              | `bool`  | `pressedL1();`        |                                                                   |

+| R1              | `bool`  | `pressedR1();`        |                                                                   |

+| R2              | `bool`  | `pressedR2();`        | `pressedR2Analog()`  also returns the button status with  `float` |

+| L2              | `bool`  | `pressedL2();`        | `pressedL2Analog()` also returns the button status with `float`   |

+| Select          | `bool`  | `pressedSelect();`    |                                                                   |

+| Start           | `bool`  | `pressedStart();`     |                                                                   |

+| PS              | `bool`  | `pressedPS();`        |                                                                   |

+| DPad ↑          | `bool`  | `pressedDPadUp();`    | `pressedDPadY()`  also returns the button status with  `float`    |

+| DPad ↓          | `bool`  | `pressedDPadDown();`  | `pressedDPadY()`  also returns the button status with  `float`    |

+| DPad ←          | `bool`  | `pressedDPadLeft();`  | `pressedDPadX()`  also returns the button status with  `float`    |

+| DPad →          | `bool`  | `pressedDPadRight();` | `pressedDPadX()`  also returns the button status with  `float`    |

+| DPad ← →        | `float` | `pressedDPadX();`     | `-1.0` : Right, `1.0` : Left                                      |

+| DPad ↑ ↓        | `float` | `pressedDPadY();`     | `-1.0`  : Down,  `1.0`  : Up                                      |

+| Left Stick ← →  | `float` | `tiltedStickLX();`    | `-1.0`  : Right,  `1.0`  : Left                                   |

+| Left Stick ↑ ↓  | `float` | tiltedStickLY();`     | `-1.0`  : Down,  `1.0`  : Up                                      |

+| Right Stick ← → | `float` | `tiltedStickRX();`    | `-1.0`  : Right,  `1.0`  : Left                                   |

+| Right Stick ↑ ↓ | `float` | `tiltedStickRY();`    | `-1.0`  : Down,  `1.0`  : Up                                      |

+| R2              | `float` | `pressedR2Analog();`  | `-1.0` : Pressed, `1.0` : Not pressed                             |

+| L2              | `float` | `pressedL2Analog();`  | `-1.0`  : Pressed,  `1.0`  : Not pressed                          |

(파일 끝에 줄바꿈 문자 없음)

...	...	@@ -1,2 +1,61 @@
1	1	# PlayStation-JoyInterface-ROS2
2		-PlayStation Joy Controller Interface Package for ROS2
	2	+PlayStation Joy Controller Interface Package for ROS2.
	3	+
	4	+
	5	+## Supported controllers
	6	+
	7	+\| Status \| Hardware Name \|
	8	+\| ------ \| ------------- \|
	9	+\| ⬜️ \| `DualShock3` \|
	10	+\| ⬜️ \| `DualShock4` \|
	11	+\| ✅ \| `Dualsense` \|
	12	+
	13	+
	14	+## How to use the interface library
	15	+1. Initialize controller interface with the specific hardware type.
	16	+```cpp
	17	+// Initialize Interface
	18	+const std::string hw_type = "Dualsense";
	19	+ps_interface =
	20	+ std::make_unique<p9n_interface::PlayStationInterface>(hw_type);
	21	+```
	22	+
	23	+2. Set `sensor_msg::msg::joy` to interface. Then you can access any button state via the interface.
	24	+```cpp
	25	+void Example::onJoyCallback(sensor_msgs::msg::Joy::ConstSharedPtr joy_msg) {
	26	+ ps_interface->setJoyMsg(joy_msg); // set joy message to interface
	27	+
	28	+ // When Circle Button Pressed..
	29	+ if(ps_interface->pressedCircle()) {
	30	+ // You can hook action here
	31	+...
	32	+```
	33	+
	34	+## Buttons and Interface functions.
	35	+
	36	+\| Target \| Type \| Function Name \| Description \|
	37	+\| --------------- \| ------- \| --------------------- \| ----------------------------------------------------------------- \|
	38	+\| Any \| `bool` \| `pressedAny();` \| Return `true` when pressed \|
	39	+\| □ \| `bool` \| `pressedSquare();` \| \|
	40	+\| ○ \| `bool` \| `pressedCircle();` \| \|
	41	+\| □ \| `bool` \| `pressedTriangle();` \| \|
	42	+\| ☓ \| `bool` \| `pressedCross();` \| \|
	43	+\| L1 \| `bool` \| `pressedL1();` \| \|
	44	+\| R1 \| `bool` \| `pressedR1();` \| \|
	45	+\| R2 \| `bool` \| `pressedR2();` \| `pressedR2Analog()` also returns the button status with `float` \|
	46	+\| L2 \| `bool` \| `pressedL2();` \| `pressedL2Analog()` also returns the button status with `float` \|
	47	+\| Select \| `bool` \| `pressedSelect();` \| \|
	48	+\| Start \| `bool` \| `pressedStart();` \| \|
	49	+\| PS \| `bool` \| `pressedPS();` \| \|
	50	+\| DPad ↑ \| `bool` \| `pressedDPadUp();` \| `pressedDPadY()` also returns the button status with `float` \|
	51	+\| DPad ↓ \| `bool` \| `pressedDPadDown();` \| `pressedDPadY()` also returns the button status with `float` \|
	52	+\| DPad ← \| `bool` \| `pressedDPadLeft();` \| `pressedDPadX()` also returns the button status with `float` \|
	53	+\| DPad → \| `bool` \| `pressedDPadRight();` \| `pressedDPadX()` also returns the button status with `float` \|
	54	+\| DPad ← → \| `float` \| `pressedDPadX();` \| `-1.0` : Right, `1.0` : Left \|
	55	+\| DPad ↑ ↓ \| `float` \| `pressedDPadY();` \| `-1.0` : Down, `1.0` : Up \|
	56	+\| Left Stick ← → \| `float` \| `tiltedStickLX();` \| `-1.0` : Right, `1.0` : Left \|
	57	+\| Left Stick ↑ ↓ \| `float` \| tiltedStickLY();` \| `-1.0` : Down, `1.0` : Up \|
	58	+\| Right Stick ← → \| `float` \| `tiltedStickRX();` \| `-1.0` : Right, `1.0` : Left \|
	59	+\| Right Stick ↑ ↓ \| `float` \| `tiltedStickRY();` \| `-1.0` : Down, `1.0` : Up \|
	60	+\| R2 \| `float` \| `pressedR2Analog();` \| `-1.0` : Pressed, `1.0` : Not pressed \|
	61	+\| L2 \| `float` \| `pressedL2Analog();` \| `-1.0` : Pressed, `1.0` : Not pressed \| (파일 끝에 줄바꿈 문자 없음)

Delete comment