Xbox Series S Controller support

[fbottarel]

Describe the the feature you would like
According to the documentation, only the PS4 and Logitech controllers are supported by the clearpath packages. Supporting the Xbox controller would be a great step since these well manufactured, readily available and feature both USB and Bluetooth connectivity.

Other notes
Since our Husky did not ship with a controller and we had some Xbox Series S controllers in the lab, I added the configuration to our unit. What I did was:

1. install xboxdrv package via apt
2. pair the controller using bluetoothctl
3. make a custom udev rule to map any such xbox controller to /dev/input/xbox
4. added a custom teleop_xbox.yaml config for teleop_twist_joy in clearpath_common/clearpath_control/config/a200 and clearpath_common/clearpath_control/config/generic
5. modified clearpath_config/clearpath_config/platform/platform.py so that the xbox string is acceptable as joystick parameter.

I am not sure if I missed something, but after this I can write xbox in the joystick tag in the robot.yaml general configuration file and everything works as expected. Shall I compile a PR for this? How should the udev rule be installed by the Clearpath Installer script?

[Mechazo11]

Hi @fbottarel

I might have been successful in pairing Xbox One S controller with a simulated husky robot. For step one, I used xpadneo instead. Will be opening a PR soon as soon as I get the simulated robot to move. For some unknown reasons there is an issue with the twist_mux node that I haven't been able to figure out yet.