From 345dd4c9b9ba9f7ac3840373dba73d1b6287efb4 Mon Sep 17 00:00:00 2001
From: wang-edward <edawordwang@gmail.com>
Date: Fri, 10 May 2024 16:06:55 -0400
Subject: [PATCH] updating coordinateNode to remove void msgs and add turning
 functionality - alex

---
 .../uwrt_mars_rover_xbox_controller/package.xml        | 10 +++++++++-
 .../src/coordinateNode.cpp                             |  2 +-
 2 files changed, 10 insertions(+), 2 deletions(-)

diff --git a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/package.xml b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/package.xml
index 04bf2b56..7de3646b 100644
--- a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/package.xml
+++ b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/package.xml
@@ -3,8 +3,16 @@
 <package format="3">
   <name>uwrt_mars_rover_xbox_controller</name>
   <version>0.0.0</version>
-  <description>ROS2 rover xbox joystick controller</description>
+  <description>
+  ROS2 rover xbox joystick controller
+  Creator: Nico
+  Modifiers: Edward, Soumya, Alex
+  Link to detailed description: 
+  </description>
   <maintainer email="npalmar@uwaterloo.ca">nico</maintainer>
+  <maintainer email="@uwaterloo.ca">edward</maintainer>
+  <maintainer email="@uwaterloo.ca">soumya</maintainer>
+  <maintainer email="aszabo@uwaterloo.ca">alex</maintainer>
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
diff --git a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/src/coordinateNode.cpp b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/src/coordinateNode.cpp
index 267c718a..5b3c87de 100644
--- a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/src/coordinateNode.cpp
+++ b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/src/coordinateNode.cpp
@@ -9,7 +9,7 @@ CoordinateNode::CoordinateNode(const rclcpp::NodeOptions & options) : Node("coor
 
         auto msg = std::make_unique<geometry_msgs::msg::Twist>();
         msg->linear.x = (*msg_in).drivetrain_joy_x * vConstant;
-        msg->linear.y = (*msg_in).drivetrain_joy_y * vConstant;
+        msg->angular.z = (*msg_in).gimble_joy_x * vConstant;
 
         pub_->publish(std::move(msg));
     };