remove old launch files, configure the joystick defaults and add a car config on installation

Author: nathantsoi

CMakeLists.txt

@@ -1,4 +1,4 @@
-CMAKE_MINIMUM_REQUIRED(VERSION 3.8)
+CMAKE_MINIMUM_REQUIRED(VERSION 3.14.4)
 PROJECT(ut_automata)
 
 set(CMAKE_CXX_STANDARD 17)
@@ -208,3 +208,23 @@ install(DIRECTORY
 
 ament_export_dependencies(rosidl_default_runtime)
 ament_package()
+
+# Generate car.lua from the hostname at build time and install it.
+# The generated file will be written to the build tree and then installed
+# into share/${PROJECT_NAME}/config/car.lua so it ends up at
+# $(ros2 pkg prefix ut_automata)/share/ut_automata/config/car.lua
+set(GENERATED_CAR_LUA ${CMAKE_CURRENT_BINARY_DIR}/share/${PROJECT_NAME}/config/car.lua)
+
+add_custom_command(
+  OUTPUT ${GENERATED_CAR_LUA}
+  COMMAND ${CMAKE_COMMAND} -E make_directory ${CMAKE_CURRENT_BINARY_DIR}/share/${PROJECT_NAME}/config
+  COMMAND /bin/sh -c "hn=$(hostname); num=$(echo \"${hn}\" | grep -oE '[0-9]+' | tail -n1); if [ -z \"${num}\" ]; then num=0; fi; printf 'car_name = \"car%s\";\\n' \"${num}\" > \"${GENERATED_CAR_LUA}\""
+  COMMENT "Generating ${GENERATED_CAR_LUA} from hostname"
+  VERBATIM
+)
+
+add_custom_target(generate_car_lua ALL DEPENDS ${GENERATED_CAR_LUA})
+
+# Install the generated file into the package share directory so it's available
+# after 'colcon build' under $(ros2 pkg prefix ut_automata)/share/ut_automata/config/car.lua
+install(FILES ${GENERATED_CAR_LUA} DESTINATION share/${PROJECT_NAME}/config)

config/joystick.lua

@@ -1,8 +1,8 @@
-joystick_port="/dev/input/js1"
+joystick_port="/dev/input/js0"
 
 -- name of controller used
-joystick_name="Logitech_F710"
--- joystick_name="Sony_DualShock_4"
+-- joystick_name="Logitech_F710"
+joystick_name="Sony_DualShock_4"