RaspberryPiMouse_IsaacSIM/joystick.graph.json at master · rt-net/RaspberryPiMouse_IsaacSIM · GitHub

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{
  "nodes": [
    {
      "name": "control",
      "components": [
        {
          "name": "message_ledger",
          "type": "isaac::alice::MessageLedger"
        },
        {
          "name": "isaac.planner.DifferentialBaseControl",
          "type": "isaac::planner::DifferentialBaseControl"
        }
      ]
    },
    {
      "name": "joystick",
      "components": [
        {
          "name": "message_ledger",
          "type": "isaac::alice::MessageLedger"
        },
        {
          "name": "isaac.Joystick",
          "type": "isaac::Joystick"
        }
      ]
    },
    {
      "name": "raspimouse_joystick",
      "components": [
        {
          "name": "message_ledger",
          "type": "isaac::alice::MessageLedger"
        },
        {
          "name": "isaac.navigation.RobotRemoteControl",
          "type": "isaac::navigation::RobotRemoteControl"
        },
        {
          "name": "isaac.alice.FailsafeHeartbeat",
          "type": "isaac::alice::FailsafeHeartbeat"
        }
      ]
    },
    {
      "name": "virtual_gamepad_bridge",
      "components": [
        {
          "name": "message_ledger",
          "type": "isaac::alice::MessageLedger"
        },
        {
          "name": "VirtualGamepadBridge",
          "type": "isaac::navigation::VirtualGamepadBridge"
        }
      ]
    }
  ],
  "edges": [
    {
      "source": "joystick/isaac.Joystick/js_state",
      "target": "raspimouse_joystick/isaac.navigation.RobotRemoteControl/js_state"
    },
    {
      "source": "virtual_gamepad_bridge/VirtualGamepadBridge/joystick",
      "target": "raspimouse_joystick/isaac.navigation.RobotRemoteControl/js_state"
    },
    {
      "source": "virtual_gamepad_bridge/VirtualGamepadBridge/reply",
      "target": "websight/WebsightServer/virtual_gamepad_reply"
    },
    {
      "source": "raspimouse_joystick/isaac.navigation.RobotRemoteControl/segway_cmd",
      "target": "base_simulation/isaac.flatsim.DifferentialBaseSimulator/diff_base_command"
    },
    {
      "source": "control/isaac.planner.DifferentialBaseControl/cmd",
      "target": "raspimouse_joystick/isaac.navigation.RobotRemoteControl/ctrl"
    }
  ]
}