PS4 Mapping Inconsistent between ROS1 Melodic and ROS2 Foxy

[shoemakerlevy9]

We have observed that the following axes mapping:

ROS1 Melodic
[LS-LR, LS-UP, RS-LR, L2, R2, RS-UD, DPAD-LR, DPAD-UP]

ROS2 Foxy
[LS-LR, LS-UP, L2, RS-LR, RS-UP, R2, DPAD-LR, DPAD-UP]

** LS = Left Stick
** RS = Right Stick
** UP = Up Down
** LR = Left Right

We send turn commands to are robot using axes[2] meaning that when we run ROS2 on the robot, the left trigger is what turns the robot instead of the right stick. Having separate config files isn't a good option for us.

I'm looking at the code myself and will submit a PR if I find a fix, but I could use a point in the right direction because I'm very confused at what a 'hat' is [line 264 of joy.cpp] or what 'sdl' is

[update]
I've found out that sdl stands for SimpleDirect Media and that the ROS2 branch uses sdl.h and the ROS1 melodic does not use sdl. We also confirmed this affect Xbox 360 controllers in addition to PS4 controllers.