sudo apt install ros-kinetic-joy-teleop ros-kinetic-teleop-tools ros-kinetic-teleop-twist-joy ros-kinetic-teleop-twist-keyboard

ls /dev/input/
# 手柄被标识为js2，js1居然是笔记本的加速度计！
sudo jstest /dev/input/js2
# 可以看到数据在变化
Driver version is 2.1.0.
Joystick (Microsoft X-Box One pad) has 8 axes (X, Y, Z, Rx, Ry, Rz, Hat0X, Hat0Y)
and 11 buttons (BtnX, BtnY, BtnTL, BtnTR, BtnTR2, BtnSelect, BtnThumbL, BtnThumbR, ?, ?, ?).
Testing ... (interrupt to exit)
Axes:  0:     0  1:     0  2:     0  3:     0  4:     0  5:     0  6:     0  7:     0 Buttons:  0:off  1:off  2:off  3:off  4:off  5:off  6:off  7:off  8:off  9

# 查看此设备的访问权限，为ROS程序（用户域）添加权限
ls -l /dev/input/js2
sudo chmod a+rw /dev/input/js2

<launch>
  <node pkg = "joy" type = "joy_node" name = "joy_node" output="screen">
    <param name="dev"               value="/dev/input/js2" type="string"/>
    <param name="deadzone"          value="0.05"/>
    <param name="autorepeat_rate"   value="0.0"/>
    <param name="coalesce_interval" value="0.001"/>
  </node>
  <node pkg = "teleop_twist_joy" type = "teleop_node" name = "teleop_node" output="screen">
    <param name="enable_button"         value="0"/>
    <param name="enable_turbo_button"   value="-1"/>
    <param name="axis_linear"           value="1"/>
    <param name="scale_linear_turbo"    value="1.0"/>
    <param name="axis_angular"          value="0"/>
    <param name="scale_angular"         value="1.0"/>
    <remap from="cmd_vel" to="RosAria/cmd_vel" />
  </node>
</launch>