Commit @1f6b880ffb5b003a23b92b9fa77328d4f6184bac - yjyoon/ros2_플레이스테이션

윤영준 2024-12-09

README

@1f6b880ffb5b003a23b92b9fa77328d4f6184bac

88f9231

1f6b880

README.md

--- README.md

+++ README.md

...	...	@@ -1,4 +1,19 @@
	1	+# 원본으로부터 특기할만한 변경점
	2	+
	3	+## `p9n_example` 에서의 변경점
	4	+
	5	+기존에는 단순히 플레이스테이션 컨트롤러의 입력을 받아 출력하는 역할만 있었으나, 이를 publish 할 수 있는 능력 부여
	6	+
	7	+또한, 동시 키 입력 지원 (기존 코드는 모든 인풋에 대하여 if else 로 switch 하는 방식이었으나 수정된 코드는 이를 개별로 처리하고 publish)
	8	+
	9	+이 외에도 `CmakeList.txt`, `package.xml` 파일의 스크립트간 의존관계 변경에 따른 수정
	10	+
	11	+또한 이를 통하여 python 상에서 플레이스테이션 컨트롤러의 입력을 처리 할 수 있도록 joy_feed_back_receiver.py 예제 추가
	12	+
	13	+p9n_example 폴더내부의 cpp 코드, include hpp 코드, 모두 수정되었음.
	14	+
1	15	# PlayStation-JoyInterface-ROS2
	16	+
2	17	PlayStation Joy Controller Interface Package for ROS2.
3	18
4	19

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p9n_example/CMakeLists.txt

--- p9n_example/CMakeLists.txt

+++ p9n_example/CMakeLists.txt

...	...	@@ -27,4 +27,12 @@
27	27	ament_lint_auto_find_test_dependencies()
28	28	endif()
29	29
	30	+# ===========python node ============
	31	+# Install Python scripts
	32	+install(
	33	+ PROGRAMS
	34	+ scripts/joy_feedback_receiver.py
	35	+ DESTINATION lib/${PROJECT_NAME}
	36	+)
	37	+
30	38	ament_auto_package(INSTALL_TO_SHARE launch)

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p9n_example/include/p9n_example/display_node.hpp

--- p9n_example/include/p9n_example/display_node.hpp

+++ p9n_example/include/p9n_example/display_node.hpp


 #include <p9n_interface/p9n_interface.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <sensor_msgs/msg/joy.hpp>
+#include <std_msgs/msg/string.hpp>
 
 namespace p9n_example
 {

   std::unique_ptr<p9n_interface::PlayStationInterface> p9n_if_;
 
   rclcpp::Subscription<sensor_msgs::msg::Joy>::SharedPtr joy_sub_;
+  rclcpp::Publisher<std_msgs::msg::String>::SharedPtr feedback_pub_;
 
 public:
   explicit DisplayNode(const rclcpp::NodeOptions &);

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p9n_example/package.xml

--- p9n_example/package.xml

+++ p9n_example/package.xml


   <depend>rclcpp_components</depend>
   <depend>p9n_interface</depend>
   <exec_depend>joy</exec_depend>
+  
+  <exec_depend>python3</exec_depend>
+  <exec_depend>setuptools</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

1f6b880

p9n_example/scripts/joy_feedback_receiver.py (added)

+++ p9n_example/scripts/joy_feedback_receiver.py

...	...	@@ -0,0 +1,36 @@
	1	+#!/usr/bin/env python3
	2	+# shebang line for directing correct python executables. ROS2 uses system python installation, not conda.
	3	+import rclpy
	4	+from rclpy.node import Node
	5	+from std_msgs.msg import String
	6	+
	7	+class JoyFeedbackReceiver(Node):
	8	+ def __init__(self):
	9	+ super().__init__('joy_feedback_receiver')
	10	+ # Create a subscription to the 'joy_feedback' topic
	11	+ self.subscription = self.create_subscription(
	12	+ String,
	13	+ 'joy_feedback',
	14	+ self.listener_callback,
	15	+ 10 # QoS depth
	16	+ )
	17	+ self.get_logger().info('Joy Feedback Receiver Node Initialized')
	18	+
	19	+ def listener_callback(self, msg):
	20	+ # Log and print the received message
	21	+ self.get_logger().info(f'Received feedback: {msg.data}')
	22	+
	23	+def main(args=None):
	24	+ rclpy.init(args=args)
	25	+ receiver_node = JoyFeedbackReceiver()
	26	+ try:
	27	+ rclpy.spin(receiver_node)
	28	+ except KeyboardInterrupt:
	29	+ receiver_node.get_logger().info('Shutting down node...')
	30	+ finally:
	31	+ receiver_node.destroy_node()
	32	+ rclpy.shutdown()
	33	+
	34	+if __name__ == '__main__':
	35	+ main()
	36	+

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p9n_example/src/display_node.cpp

--- p9n_example/src/display_node.cpp

+++ p9n_example/src/display_node.cpp


 
 
 #include "p9n_example/display_node.hpp"
+#include "std_msgs/msg/string.hpp"
 
 
 namespace p9n_example

     "joy", rclcpp::SensorDataQoS(rclcpp::KeepLast(1)),
     std::bind(&DisplayNode::onJoy, this, std::placeholders::_1));
 
+  // Define the publisher
+  this->feedback_pub_ = this->create_publisher<std_msgs::msg::String>(
+    "joy_feedback", 10);
+
 
   if (this->joy_sub_->get_publisher_count() == 0) {
     RCLCPP_WARN(

 {
   this->p9n_if_->setJoyMsg(joy_msg);
 
+  std::string feedback;
+  // for handling multi button press
   if (this->p9n_if_->pressedCross()) {
+    auto msg = std_msgs::msg::String();
+    msg.data = "Cross button pressed!";
     RCLCPP_INFO(this->get_logger(), " ☓ Pressed!");
+    this->feedback_pub_->publish(msg);
   }
 
   if (this->p9n_if_->pressedCircle()) {
-    RCLCPP_INFO(this->get_logger(), " ○ Pressed!");
+      auto msg = std_msgs::msg::String();
+      msg.data = "Circle button pressed!";
+      RCLCPP_INFO(this->get_logger(), " ○ Pressed!");
+      this->feedback_pub_->publish(msg);
   }
 
   if (this->p9n_if_->pressedTriangle()) {
-    RCLCPP_INFO(this->get_logger(), " △ Pressed!");
+      auto msg = std_msgs::msg::String();
+      msg.data = "Triangle button pressed!";
+      RCLCPP_INFO(this->get_logger(), " △ Pressed!");
+      this->feedback_pub_->publish(msg);
   }
 
   if (this->p9n_if_->pressedSquare()) {
-    RCLCPP_INFO(this->get_logger(), " □ Pressed!");
+      auto msg = std_msgs::msg::String();
+      msg.data = "Square button pressed!";
+      RCLCPP_INFO(this->get_logger(), " □ Pressed!");
+      this->feedback_pub_->publish(msg);
   }
 
   if (this->p9n_if_->pressedL1()) {
-    RCLCPP_INFO(this->get_logger(), " L1 Pressed!");
+      auto msg = std_msgs::msg::String();
+      msg.data = "L1 button pressed!";
+      RCLCPP_INFO(this->get_logger(), " L1 Pressed!");
+      this->feedback_pub_->publish(msg);
   }
 
   if (this->p9n_if_->pressedR1()) {
-    RCLCPP_INFO(this->get_logger(), " R1 Pressed!");
+      auto msg = std_msgs::msg::String();
+      msg.data = "R1 button pressed!";
+      RCLCPP_INFO(this->get_logger(), " R1 Pressed!");
+      this->feedback_pub_->publish(msg);
   }
 
   if (this->p9n_if_->pressedL2()) {
-    RCLCPP_INFO_STREAM(
-      this->get_logger(),
-      " L2 Pressed! : " <<
-        std::right << std::setw(6) <<
-        std::fixed << std::setprecision(3) <<
-        this->p9n_if_->pressedL2Analog());
+      auto msg = std_msgs::msg::String();
+      msg.data = "L2 button pressed with analog value: " +
+                 std::to_string(this->p9n_if_->pressedL2Analog());
+      RCLCPP_INFO_STREAM(
+        this->get_logger(),
+        " L2 Pressed! : " << std::right << std::setw(6) << std::fixed << std::setprecision(3)
+                          << this->p9n_if_->pressedL2Analog());
+      this->feedback_pub_->publish(msg);
   }
 
   if (this->p9n_if_->pressedR2()) {
-    RCLCPP_INFO_STREAM(
-      this->get_logger(),
-      " R2 Pressed! : " <<
-        std::right << std::setw(6) <<
-        std::fixed << std::setprecision(3) <<
-        this->p9n_if_->pressedR2Analog());
+      auto msg = std_msgs::msg::String();
+      msg.data = "R2 button pressed with analog value: " +
+                 std::to_string(this->p9n_if_->pressedR2Analog());
+      RCLCPP_INFO_STREAM(
+        this->get_logger(),
+        " R2 Pressed! : " << std::right << std::setw(6) << std::fixed << std::setprecision(3)
+                          << this->p9n_if_->pressedR2Analog());
+      this->feedback_pub_->publish(msg);
   }
 
   if (this->p9n_if_->pressedSelect()) {
-    RCLCPP_INFO(
-      this->get_logger(), " Select Pressed!");
+      auto msg = std_msgs::msg::String();
+      msg.data = "Select button pressed!";
+      RCLCPP_INFO(this->get_logger(), " Select Pressed!");
+      this->feedback_pub_->publish(msg);
   }
 
   if (this->p9n_if_->pressedStart()) {
-    RCLCPP_INFO(
-      this->get_logger(), " Start Pressed!");
+      auto msg = std_msgs::msg::String();
+      msg.data = "Start button pressed!";
+      RCLCPP_INFO(this->get_logger(), " Start Pressed!");
+      this->feedback_pub_->publish(msg);
   }
 
   if (this->p9n_if_->pressedPS()) {
-    RCLCPP_INFO(
-      this->get_logger(), " PS Pressed!");
+      auto msg = std_msgs::msg::String();
+      msg.data = "PS button pressed!";
+      RCLCPP_INFO(this->get_logger(), " PS Pressed!");
+      this->feedback_pub_->publish(msg);
   }
 
   if (this->p9n_if_->pressedDPadUp()) {
-    RCLCPP_INFO(
-      this->get_logger(), " ↑ Pressed!");
+      auto msg = std_msgs::msg::String();
+      msg.data = "D-Pad Up pressed!";
+      RCLCPP_INFO(this->get_logger(), " ↑ Pressed!");
+      this->feedback_pub_->publish(msg);
   }
 
   if (this->p9n_if_->pressedDPadDown()) {
-    RCLCPP_INFO(
-      this->get_logger(), " ↓ Pressed!");
+      auto msg = std_msgs::msg::String();
+      msg.data = "D-Pad Down pressed!";
+      RCLCPP_INFO(this->get_logger(), " ↓ Pressed!");
+      this->feedback_pub_->publish(msg);
   }
 
   if (this->p9n_if_->pressedDPadRight()) {
-    RCLCPP_INFO(
-      this->get_logger(), " → Pressed!");
+      auto msg = std_msgs::msg::String();
+      msg.data = "D-Pad Right pressed!";
+      RCLCPP_INFO(this->get_logger(), " → Pressed!");
+      this->feedback_pub_->publish(msg);
   }
 
   if (this->p9n_if_->pressedDPadLeft()) {
-    RCLCPP_INFO(
-      this->get_logger(), " ← Pressed!");
+      auto msg = std_msgs::msg::String();
+      msg.data = "D-Pad Left pressed!";
+      RCLCPP_INFO(this->get_logger(), " ← Pressed!");
+      this->feedback_pub_->publish(msg);
+  }
+  
+  // L and R stick
+  if (
+      std::abs(this->p9n_if_->tiltedStickLX()) > 1e-2 ||
+      std::abs(this->p9n_if_->tiltedStickLY()) > 1e-2)
+  {
+      std::ostringstream oss;
+      oss << "LStick Tilted! x: " << std::fixed << std::setw(6) << std::setprecision(3)
+          << this->p9n_if_->tiltedStickLX()
+          << " y: " << std::fixed << std::setw(6) << std::setprecision(3)
+          << this->p9n_if_->tiltedStickLY();
+      std::string feedback = oss.str();
+
+      RCLCPP_INFO_STREAM(this->get_logger(), feedback);
+
+      // Publish the feedback message
+      auto msg = std_msgs::msg::String();
+      msg.data = feedback;
+      this->feedback_pub_->publish(msg);
   }
 
   if (
-    std::abs(this->p9n_if_->tiltedStickLX()) > 1e-2 ||
-    std::abs(this->p9n_if_->tiltedStickLY()) > 1e-2)
+      std::abs(this->p9n_if_->tiltedStickRX()) > 1e-2 ||
+      std::abs(this->p9n_if_->tiltedStickRY()) > 1e-2)
   {
-    RCLCPP_INFO_STREAM(
-      this->get_logger(),
-      " LStick Tilted!" <<
-        " x:" << std::fixed << std::setw(6) << std::setprecision(3) <<
-        this->p9n_if_->tiltedStickLX() <<
-        " y:" << std::fixed << std::setw(6) << std::setprecision(3) <<
-        this->p9n_if_->tiltedStickLY());
-  }
+      std::ostringstream oss;
+      oss << "RStick Tilted! x: " << std::fixed << std::setw(6) << std::setprecision(3)
+          << this->p9n_if_->tiltedStickRX()
+          << " y: " << std::fixed << std::setw(6) << std::setprecision(3)
+          << this->p9n_if_->tiltedStickRY();
+      std::string feedback = oss.str();
 
-  if (
-    std::abs(this->p9n_if_->tiltedStickRX()) > 1e-2 ||
-    std::abs(this->p9n_if_->tiltedStickRY()) > 1e-2)
-  {
-    RCLCPP_INFO_STREAM(
-      this->get_logger(),
-      " RStick Tilted!" <<
-        " x:" << std::fixed << std::setw(6) << std::setprecision(3) <<
-        this->p9n_if_->tiltedStickRX() <<
-        " y:" << std::fixed << std::setw(6) << std::setprecision(3) <<
-        this->p9n_if_->tiltedStickRY());
+      RCLCPP_INFO_STREAM(this->get_logger(), feedback);
+
+      // Publish the feedback message
+      auto msg = std_msgs::msg::String();
+      msg.data = feedback;
+      this->feedback_pub_->publish(msg);
   }
 
   if (this->p9n_if_->pressedAny()) {
     using namespace std::chrono_literals;  // NOLINT
-    rclcpp::sleep_for(200ms);
+    rclcpp::sleep_for(100ms);
   }
 }
 }  // namespace p9n_example

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...	...	@@ -20,6 +20,7 @@
20	20	#include <p9n_interface/p9n_interface.hpp>
21	21	#include <rclcpp/rclcpp.hpp>
22	22	#include <sensor_msgs/msg/joy.hpp>
	23	+#include <std_msgs/msg/string.hpp>
23	24
24	25	namespace p9n_example
25	26	{
...	...	@@ -30,6 +31,7 @@
30	31	std::unique_ptr<p9n_interface::PlayStationInterface> p9n_if_;
31	32
32	33	rclcpp::Subscription<sensor_msgs::msg::Joy>::SharedPtr joy_sub_;
	34	+ rclcpp::Publisher<std_msgs::msg::String>::SharedPtr feedback_pub_;
33	35
34	36	public:
35	37	explicit DisplayNode(const rclcpp::NodeOptions &);

...	...	@@ -12,6 +12,9 @@
12	12	<depend>rclcpp_components</depend>
13	13	<depend>p9n_interface</depend>
14	14	<exec_depend>joy</exec_depend>
	15	+
	16	+ <exec_depend>python3</exec_depend>
	17	+ <exec_depend>setuptools</exec_depend>
15	18
16	19	<test_depend>ament_lint_auto</test_depend>
17	20	<test_depend>ament_lint_common</test_depend>

...	...	@@ -14,6 +14,7 @@
14	14
15	15
16	16	#include "p9n_example/display_node.hpp"
	17	+#include "std_msgs/msg/string.hpp"
17	18
18	19
19	20	namespace p9n_example
...	...	@@ -45,6 +46,10 @@
45	46	"joy", rclcpp::SensorDataQoS(rclcpp::KeepLast(1)),
46	47	std::bind(&DisplayNode::onJoy, this, std::placeholders::_1));
47	48
	49	+ // Define the publisher
	50	+ this->feedback_pub_ = this->create_publisher<std_msgs::msg::String>(
	51	+ "joy_feedback", 10);
	52	+
48	53
49	54	if (this->joy_sub_->get_publisher_count() == 0) {
50	55	RCLCPP_WARN(
...	...	@@ -57,112 +62,163 @@
57	62	{
58	63	this->p9n_if_->setJoyMsg(joy_msg);
59	64
	65	+ std::string feedback;
	66	+ // for handling multi button press
60	67	if (this->p9n_if_->pressedCross()) {
	68	+ auto msg = std_msgs::msg::String();
	69	+ msg.data = "Cross button pressed!";
61	70	RCLCPP_INFO(this->get_logger(), " ☓ Pressed!");
	71	+ this->feedback_pub_->publish(msg);
62	72	}
63	73
64	74	if (this->p9n_if_->pressedCircle()) {
65		- RCLCPP_INFO(this->get_logger(), " ○ Pressed!");
	75	+ auto msg = std_msgs::msg::String();
	76	+ msg.data = "Circle button pressed!";
	77	+ RCLCPP_INFO(this->get_logger(), " ○ Pressed!");
	78	+ this->feedback_pub_->publish(msg);
66	79	}
67	80
68	81	if (this->p9n_if_->pressedTriangle()) {
69		- RCLCPP_INFO(this->get_logger(), " △ Pressed!");
	82	+ auto msg = std_msgs::msg::String();
	83	+ msg.data = "Triangle button pressed!";
	84	+ RCLCPP_INFO(this->get_logger(), " △ Pressed!");
	85	+ this->feedback_pub_->publish(msg);
70	86	}
71	87
72	88	if (this->p9n_if_->pressedSquare()) {
73		- RCLCPP_INFO(this->get_logger(), " □ Pressed!");
	89	+ auto msg = std_msgs::msg::String();
	90	+ msg.data = "Square button pressed!";
	91	+ RCLCPP_INFO(this->get_logger(), " □ Pressed!");
	92	+ this->feedback_pub_->publish(msg);
74	93	}
75	94
76	95	if (this->p9n_if_->pressedL1()) {
77		- RCLCPP_INFO(this->get_logger(), " L1 Pressed!");
	96	+ auto msg = std_msgs::msg::String();
	97	+ msg.data = "L1 button pressed!";
	98	+ RCLCPP_INFO(this->get_logger(), " L1 Pressed!");
	99	+ this->feedback_pub_->publish(msg);
78	100	}
79	101
80	102	if (this->p9n_if_->pressedR1()) {
81		- RCLCPP_INFO(this->get_logger(), " R1 Pressed!");
	103	+ auto msg = std_msgs::msg::String();
	104	+ msg.data = "R1 button pressed!";
	105	+ RCLCPP_INFO(this->get_logger(), " R1 Pressed!");
	106	+ this->feedback_pub_->publish(msg);
82	107	}
83	108
84	109	if (this->p9n_if_->pressedL2()) {
85		- RCLCPP_INFO_STREAM(
86		- this->get_logger(),
87		- " L2 Pressed! : " <<
88		- std::right << std::setw(6) <<
89		- std::fixed << std::setprecision(3) <<
90		- this->p9n_if_->pressedL2Analog());
	110	+ auto msg = std_msgs::msg::String();
	111	+ msg.data = "L2 button pressed with analog value: " +
	112	+ std::to_string(this->p9n_if_->pressedL2Analog());
	113	+ RCLCPP_INFO_STREAM(
	114	+ this->get_logger(),
	115	+ " L2 Pressed! : " << std::right << std::setw(6) << std::fixed << std::setprecision(3)
	116	+ << this->p9n_if_->pressedL2Analog());
	117	+ this->feedback_pub_->publish(msg);
91	118	}
92	119
93	120	if (this->p9n_if_->pressedR2()) {
94		- RCLCPP_INFO_STREAM(
95		- this->get_logger(),
96		- " R2 Pressed! : " <<
97		- std::right << std::setw(6) <<
98		- std::fixed << std::setprecision(3) <<
99		- this->p9n_if_->pressedR2Analog());
	121	+ auto msg = std_msgs::msg::String();
	122	+ msg.data = "R2 button pressed with analog value: " +
	123	+ std::to_string(this->p9n_if_->pressedR2Analog());
	124	+ RCLCPP_INFO_STREAM(
	125	+ this->get_logger(),
	126	+ " R2 Pressed! : " << std::right << std::setw(6) << std::fixed << std::setprecision(3)
	127	+ << this->p9n_if_->pressedR2Analog());
	128	+ this->feedback_pub_->publish(msg);
100	129	}
101	130
102	131	if (this->p9n_if_->pressedSelect()) {
103		- RCLCPP_INFO(
104		- this->get_logger(), " Select Pressed!");
	132	+ auto msg = std_msgs::msg::String();
	133	+ msg.data = "Select button pressed!";
	134	+ RCLCPP_INFO(this->get_logger(), " Select Pressed!");
	135	+ this->feedback_pub_->publish(msg);
105	136	}
106	137
107	138	if (this->p9n_if_->pressedStart()) {
108		- RCLCPP_INFO(
109		- this->get_logger(), " Start Pressed!");
	139	+ auto msg = std_msgs::msg::String();
	140	+ msg.data = "Start button pressed!";
	141	+ RCLCPP_INFO(this->get_logger(), " Start Pressed!");
	142	+ this->feedback_pub_->publish(msg);
110	143	}
111	144
112	145	if (this->p9n_if_->pressedPS()) {
113		- RCLCPP_INFO(
114		- this->get_logger(), " PS Pressed!");
	146	+ auto msg = std_msgs::msg::String();
	147	+ msg.data = "PS button pressed!";
	148	+ RCLCPP_INFO(this->get_logger(), " PS Pressed!");
	149	+ this->feedback_pub_->publish(msg);
115	150	}
116	151
117	152	if (this->p9n_if_->pressedDPadUp()) {
118		- RCLCPP_INFO(
119		- this->get_logger(), " ↑ Pressed!");
	153	+ auto msg = std_msgs::msg::String();
	154	+ msg.data = "D-Pad Up pressed!";
	155	+ RCLCPP_INFO(this->get_logger(), " ↑ Pressed!");
	156	+ this->feedback_pub_->publish(msg);
120	157	}
121	158
122	159	if (this->p9n_if_->pressedDPadDown()) {
123		- RCLCPP_INFO(
124		- this->get_logger(), " ↓ Pressed!");
	160	+ auto msg = std_msgs::msg::String();
	161	+ msg.data = "D-Pad Down pressed!";
	162	+ RCLCPP_INFO(this->get_logger(), " ↓ Pressed!");
	163	+ this->feedback_pub_->publish(msg);
125	164	}
126	165
127	166	if (this->p9n_if_->pressedDPadRight()) {
128		- RCLCPP_INFO(
129		- this->get_logger(), " → Pressed!");
	167	+ auto msg = std_msgs::msg::String();
	168	+ msg.data = "D-Pad Right pressed!";
	169	+ RCLCPP_INFO(this->get_logger(), " → Pressed!");
	170	+ this->feedback_pub_->publish(msg);
130	171	}
131	172
132	173	if (this->p9n_if_->pressedDPadLeft()) {
133		- RCLCPP_INFO(
134		- this->get_logger(), " ← Pressed!");
	174	+ auto msg = std_msgs::msg::String();
	175	+ msg.data = "D-Pad Left pressed!";
	176	+ RCLCPP_INFO(this->get_logger(), " ← Pressed!");
	177	+ this->feedback_pub_->publish(msg);
	178	+ }
	179	+
	180	+ // L and R stick
	181	+ if (
	182	+ std::abs(this->p9n_if_->tiltedStickLX()) > 1e-2 \|\|
	183	+ std::abs(this->p9n_if_->tiltedStickLY()) > 1e-2)
	184	+ {
	185	+ std::ostringstream oss;
	186	+ oss << "LStick Tilted! x: " << std::fixed << std::setw(6) << std::setprecision(3)
	187	+ << this->p9n_if_->tiltedStickLX()
	188	+ << " y: " << std::fixed << std::setw(6) << std::setprecision(3)
	189	+ << this->p9n_if_->tiltedStickLY();
	190	+ std::string feedback = oss.str();
	191	+
	192	+ RCLCPP_INFO_STREAM(this->get_logger(), feedback);
	193	+
	194	+ // Publish the feedback message
	195	+ auto msg = std_msgs::msg::String();
	196	+ msg.data = feedback;
	197	+ this->feedback_pub_->publish(msg);
135	198	}
136	199
137	200	if (
138		- std::abs(this->p9n_if_->tiltedStickLX()) > 1e-2 \|\|
139		- std::abs(this->p9n_if_->tiltedStickLY()) > 1e-2)
	201	+ std::abs(this->p9n_if_->tiltedStickRX()) > 1e-2 \|\|
	202	+ std::abs(this->p9n_if_->tiltedStickRY()) > 1e-2)
140	203	{
141		- RCLCPP_INFO_STREAM(
142		- this->get_logger(),
143		- " LStick Tilted!" <<
144		- " x:" << std::fixed << std::setw(6) << std::setprecision(3) <<
145		- this->p9n_if_->tiltedStickLX() <<
146		- " y:" << std::fixed << std::setw(6) << std::setprecision(3) <<
147		- this->p9n_if_->tiltedStickLY());
148		- }
	204	+ std::ostringstream oss;
	205	+ oss << "RStick Tilted! x: " << std::fixed << std::setw(6) << std::setprecision(3)
	206	+ << this->p9n_if_->tiltedStickRX()
	207	+ << " y: " << std::fixed << std::setw(6) << std::setprecision(3)
	208	+ << this->p9n_if_->tiltedStickRY();
	209	+ std::string feedback = oss.str();
149	210
150		- if (
151		- std::abs(this->p9n_if_->tiltedStickRX()) > 1e-2 \|\|
152		- std::abs(this->p9n_if_->tiltedStickRY()) > 1e-2)
153		- {
154		- RCLCPP_INFO_STREAM(
155		- this->get_logger(),
156		- " RStick Tilted!" <<
157		- " x:" << std::fixed << std::setw(6) << std::setprecision(3) <<
158		- this->p9n_if_->tiltedStickRX() <<
159		- " y:" << std::fixed << std::setw(6) << std::setprecision(3) <<
160		- this->p9n_if_->tiltedStickRY());
	211	+ RCLCPP_INFO_STREAM(this->get_logger(), feedback);
	212	+
	213	+ // Publish the feedback message
	214	+ auto msg = std_msgs::msg::String();
	215	+ msg.data = feedback;
	216	+ this->feedback_pub_->publish(msg);
161	217	}
162	218
163	219	if (this->p9n_if_->pressedAny()) {
164	220	using namespace std::chrono_literals; // NOLINT
165		- rclcpp::sleep_for(200ms);
	221	+ rclcpp::sleep_for(100ms);
166	222	}
167	223	}
168	224	} // namespace p9n_example

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