From 8c42a9a13f29d747f58ac04abfcaf2216243f789 Mon Sep 17 00:00:00 2001
From: Cameron Brown <me@cbrxyz.com>
Date: Mon, 4 Nov 2024 22:12:32 -0500
Subject: [PATCH] scripts/setup.bash: Allow specification of device input file
 via xbox bash command

---
 .../navigator_launch/launch/shore.launch          | 15 ++++++++++-----
 .../launch/shore/xbox_controller.launch           |  2 +-
 scripts/setup.bash                                |  6 ++----
 3 files changed, 13 insertions(+), 10 deletions(-)

diff --git a/NaviGator/mission_control/navigator_launch/launch/shore.launch b/NaviGator/mission_control/navigator_launch/launch/shore.launch
index 5454bfa18..a9605b17f 100644
--- a/NaviGator/mission_control/navigator_launch/launch/shore.launch
+++ b/NaviGator/mission_control/navigator_launch/launch/shore.launch
@@ -1,9 +1,14 @@
 <launch>
-    <!-- Run Joystick -->
-    <include file="$(find navigator_launch)/launch/shore/xbox_controller.launch" />
+  <arg name="wireless" default="False" />
+  <arg name="device_input" default="/dev/input/js0" unless="$(arg wireless)"/>
 
-    <node name="network_heartbeat" pkg="mil_tools" type="network_broadcaster.py" output="screen" />
+  <!-- Run Joystick -->
+  <include file="$(find navigator_launch)/launch/shore/xbox_controller.launch">
+      <arg name="device_input" value="$(arg device_input)"/>
+  </include>
 
-    <!-- Host Monitoring -->
-    <node name="host_monitor" pkg="navigator_gui" type="host_monitor.py"/>
+  <node name="network_heartbeat" pkg="mil_tools" type="network_broadcaster.py" output="screen" />
+
+  <!-- Host Monitoring -->
+  <node name="host_monitor" pkg="navigator_gui" type="host_monitor.py"/>
 </launch>
diff --git a/NaviGator/mission_control/navigator_launch/launch/shore/xbox_controller.launch b/NaviGator/mission_control/navigator_launch/launch/shore/xbox_controller.launch
index 5bcbc0521..4f613d1fe 100644
--- a/NaviGator/mission_control/navigator_launch/launch/shore/xbox_controller.launch
+++ b/NaviGator/mission_control/navigator_launch/launch/shore/xbox_controller.launch
@@ -1,6 +1,6 @@
 <launch>
   <arg name="wireless" default="False" />
-  <arg name="device_input" default="/dev/input/js0" unless="$(arg wireless)"/>
+  <arg name="device_input" default="/dev/input/js1" unless="$(arg wireless)"/>
   <arg name="device_input" default="/dev/input/by-id/usb-045e_0291-joystick" if="$(arg wireless)"/>
   <!-- Connect to MIL's Xbox Game controller to publish /joy messages -->
   <node pkg="joy" type="joy_node" name="joy_node">
diff --git a/scripts/setup.bash b/scripts/setup.bash
index 876478fb8..40dec2169 100755
--- a/scripts/setup.bash
+++ b/scripts/setup.bash
@@ -97,9 +97,9 @@ alias killgazebo="killall -9 gzserver && killall -9 gzclient"
 alias killros='$MIL_REPO/scripts/kill_ros.sh'
 alias killprocess='$MIL_REPO/scripts/kill_process.sh'
 
-startxbox() {
+xbox() {
 	rosservice call /wrench/select "topic: '/wrench/rc'"
-	roslaunch navigator_launch shore.launch
+	roslaunch navigator_launch shore.launch wireless_device:="$1"
 }
 
 # catkin_make for one specific package only
@@ -206,8 +206,6 @@ unmount_ssd() {
 	sudo umount /mnt/ssd
 }
 
-alias xbox=startxbox
-
 # PYTHONPATH modifications
 export PYTHONPATH="${HOME}/catkin_ws/src/mil/mil_common/perception/vision_stack/src:${HOME}/catkin_ws/src/mil/mil_common/axros/axros/src:${PYTHONPATH}"