add fonctinnality to connect all drones on the same joystick

launch/joystick_node.launch.py

+import os
+import ast
+
+from ament_index_python.packages import get_package_share_directory
+from launch_ros.actions import Node
+
+import launch
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, OpaqueFunction
+from launch.substitutions import LaunchConfiguration
+
+def launch_setup(context, *args, **kwargs):
+    joy_namespace_str = LaunchConfiguration('joy_namespace').perform(context)
+    print(joy_namespace_str)
+    joy_namespace_list = [ns.strip() for ns in joy_namespace_str.split(',') if ns.strip()]
+    
+    launch_joystick = []
+    for ns in joy_namespace_list:
+        launch_joystick.append(
+            Node(
+                package="ls2n_drone_command_center",
+                executable="joystick",
+                output="screen",
+                namespace=ns,
+                parameters=[
+                    {
+                        "joy_config_version": LaunchConfiguration(
+                            "joy_config_version"
+                        )
+                    }
+                ],
+            )
+        )
+    return launch_joystick
+
+def generate_launch_description():
+
+    ld = LaunchDescription()
+
+    ld.add_action(
+        DeclareLaunchArgument(
+            "joy_config_version",
+            default_value="CONFIG_1",
+            description="Joystick Configuration To Use",
+        )
+    )
+
+    ld.add_action(
+        DeclareLaunchArgument(
+            "joy_namespace",
+            default_value="CommandCenter,Drone1",
+            description="Joystick namespace",
+        )
+    )
+
+    joy_params = os.path.join(
+        os.path.join(
+            get_package_share_directory("ls2n_drone_command_center"), "config"
+        ),
+        "joystick_params.yaml",
+    )
+
+    joy_node = Node(
+        package="joy",
+        executable="joy_node",
+        output="screen",
+        parameters=[joy_params],
+        remappings=[("joy", "CommandCenter/Joystick")],
+    )
+    ld.add_action(joy_node)
+    ld.add_action(
+        launch.actions.RegisterEventHandler(
+            event_handler=launch.event_handlers.OnProcessExit(
+                target_action=joy_node,
+                on_exit=[
+                    launch.actions.EmitEvent(
+                        event=launch.events.Shutdown()
+                    )
+                ],
+            )
+        )
+    )
+
+    ld.add_action(OpaqueFunction(function=launch_setup))
+    return ld

src/node.cpp

@@ -147,13 +147,24 @@ void GuiNode::startCCApp(const CommandCenterApp &app) {
         QString ns;
         QString joy_config;
         QStringList ros2Args;
+        std::vector<QString> name_drone(droneList);
+
+        name_drone.erase(std::remove_if(name_drone.begin(), name_drone.end(),
+            [&](const QString& s) { return s == "CommandCenter"; }),
+            name_drone.end());
+        QStringList temp_name;
+        for (const auto& item : name_drone) {
+            temp_name << QString("%1").arg(item);
+        }
+        QString name_args = QString("%1").arg(temp_name.join(","));
+        
         switch (app) {
             case CommandCenterApp::JOYSTICK:
-                launchFileName = "joystick.launch.py";
-                ns = "joy_namespace:=" + currentDrone;
+                launchFileName = "joystick_node.launch.py";
+                ns = "joy_namespace:=" + name_args;
                 joy_config = "joy_config_version:=" + QString::fromStdString(joy_config_version_);
                 ros2Args << "launch"
-                         << "ls2n_drone_command_center" << launchFileName << ns << joy_config;
+                         << "ls2n_drone_ui" << launchFileName << ns << joy_config;
                 break;
             case CommandCenterApp::MOCAP:
                 launchFileName = "mocap.launch.py";