336 create joystick

[rosalievanark]

Description

Added a joystick platform for manually controlling the arm and vehicle platform types.
Original PR: #374 (moved to new branch due to name change to Alliander, copying changes to new branch was easier)

Features according to #336 :

• 1 button to switch between platform
• 1 button to control the E-stop
• 1 joystick to navigate the robot, arm (x,y,z + 1 rotation) or other hardware

Bonus features:

• 1 button to move to home with the franka arm
• 2 buttons to control opening and closing the gripper
• Second button to control the E-stop: one for triggering it, one for resetting it.

TO DO:

• Rewrite handling a service request's future in move_arm_to_home and send_trigger_request
• Write software tests
• Test on Franka hardware (blocked by [Hardware] MoveIt Servo on Franka #369, simulation version does work)
• Write documentation

Fixes: #336

Testing

Requires a physical game controller.

Terminal : uv run start.py mm -vj

For basic testing without a physical game controller, the following terminal command can be used and adjusted:
ros2 topic pub --once /joy sensor_msgs/msg/Joy "{axes: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], buttons: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}"

Documentation

• I have updated the documentation (if necessary)

Additional Notes

Any relevant screenshots, logs, or context.

[geurto]

Nice code! Very readable and well-designed

[Jelmerdw]

Works very well!