From 02a73bd04187b51fed64238d9e4d92322166541a Mon Sep 17 00:00:00 2001
From: Jakub Delicat <jakub.delicat@husarion.com>
Date: Fri, 8 Nov 2024 11:05:44 +0000
Subject: [PATCH] Joy input and typo

Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com>
---
 panther_manager/behavior_trees/docking.xml              | 4 ++--
 panther_manager/src/plugins/condition/check_joy_msg.cpp | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/panther_manager/behavior_trees/docking.xml b/panther_manager/behavior_trees/docking.xml
index 15aaeddf..9d3b46bc 100644
--- a/panther_manager/behavior_trees/docking.xml
+++ b/panther_manager/behavior_trees/docking.xml
@@ -8,7 +8,7 @@
                        topic_name="joy"
                        timeout="2.0"
                        axes=""
-                       buttons="1;0;0;0;1;1;0;0;0;0;0;0"/>
+                       buttons="0;0;0;1;1;1;0;0;0;0;0;0"/>
           <DockRobot name="Dock Action"
                      use_dock_id="true"
                      dock_id="main_dock"
@@ -22,7 +22,7 @@
                        topic_name="joy"
                        timeout="2.0"
                        axes=""
-                       buttons="0;0;0;1;1;1;0;0;0;0;0;0"/>
+                       buttons="1;0;0;0;1;1;0;0;0;0;0;0"/>
           <UndockRobot name="Undock Action"
                        dock_type="panther_charging_dock"
                        max_undocking_time="100"
diff --git a/panther_manager/src/plugins/condition/check_joy_msg.cpp b/panther_manager/src/plugins/condition/check_joy_msg.cpp
index d6b51552..49884c3f 100644
--- a/panther_manager/src/plugins/condition/check_joy_msg.cpp
+++ b/panther_manager/src/plugins/condition/check_joy_msg.cpp
@@ -61,7 +61,7 @@ bool CheckJoyMsg::checkButtons(const JoyMsg::SharedPtr & last_msg)
     RCLCPP_WARN_STREAM(
       this->logger(), GetLoggerPrefix(name())
                         << "Joy message has " << last_msg->buttons.size()
-                        << " axes, expected at least " << expected_buttons.size());
+                        << " buttons, expected at least " << expected_buttons.size());
     return false;
   }