From 631af97b7718e90dc428525d5bf5068907013667 Mon Sep 17 00:00:00 2001
From: LuoBin <2646887443@qq.com>
Date: Mon, 3 Mar 2025 14:27:54 +0800
Subject: [PATCH] set up joystick

---
 simulate/src/unitree_sdk2_bridge/unitree_sdk2_bridge.cc | 3 ++-
 simulate/src/unitree_sdk2_bridge/unitree_sdk2_bridge.h  | 2 +-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/simulate/src/unitree_sdk2_bridge/unitree_sdk2_bridge.cc b/simulate/src/unitree_sdk2_bridge/unitree_sdk2_bridge.cc
index ee65fa0..7f3b545 100644
--- a/simulate/src/unitree_sdk2_bridge/unitree_sdk2_bridge.cc
+++ b/simulate/src/unitree_sdk2_bridge/unitree_sdk2_bridge.cc
@@ -3,6 +3,7 @@
 UnitreeSdk2Bridge::UnitreeSdk2Bridge(mjModel *model, mjData *data) : mj_model_(model), mj_data_(data)
 {
     CheckSensor();
+    SetupJoystick();
 
     if (idl_type_ == 0)
     {
@@ -368,4 +369,4 @@ void UnitreeSdk2Bridge::GetWirelessRemote()
     wireless_remote_.ly = -double(js_->axis_[js_id_.axis["LY"]]) / max_value_;
     wireless_remote_.rx = double(js_->axis_[js_id_.axis["RX"]]) / max_value_;
     wireless_remote_.ry = -double(js_->axis_[js_id_.axis["RY"]]) / max_value_;
-}
\ No newline at end of file
+}
diff --git a/simulate/src/unitree_sdk2_bridge/unitree_sdk2_bridge.h b/simulate/src/unitree_sdk2_bridge/unitree_sdk2_bridge.h
index ab90f9e..2d6e930 100755
--- a/simulate/src/unitree_sdk2_bridge/unitree_sdk2_bridge.h
+++ b/simulate/src/unitree_sdk2_bridge/unitree_sdk2_bridge.h
@@ -110,7 +110,7 @@ public:
     void Run();
     void PrintSceneInformation();
     void CheckSensor();
-    void SetupJoystick(string device, string js_type, int bits);
+    void SetupJoystick(string device = "/dev/input/js0", string js_type = "xbox", int bits = 16);
 
     ChannelSubscriberPtr<unitree_go::msg::dds_::LowCmd_> low_cmd_go_suber_;
     ChannelSubscriberPtr<unitree_hg::msg::dds_::LowCmd_> low_cmd_hg_suber_;