Method JoystickStep

HomieDeploy/unitree_sdk2/g1_control.cpp:335–348

  }

  void JoystickStep() {
    {
      std::lock_guard<std::mutex> lock(joystick_mutex);
      gamepad.Update(joystick_msg);
    }

    rc_command.left_stick[0] = gamepad.lx;
    rc_command.left_stick[1] = gamepad.ly; // +up is 1, +right is 0
    rc_command.right_stick[0] = gamepad.rx;
    rc_command.right_stick[1] = gamepad.ry;
    rc_command.right_lower_right_switch = gamepad.R2.pressed;

    _simpleLCM.publish("rc_command", &rc_command);
  }

  void Control() {
    // set rpy of observation; for projected gravity later