Add autocenter

[chrisbitter]

Adding a parameter to use autocentering.

Tested on a Logitech G920.

[Nils-ChristianIseke]

Hi @clalancette and @JWhitleyWork,

If you think this makes sense for the project, we’d love to see it merged when you have time.
These changes cover what we need on our side and would help us stay aligned with upstream rather than maintaining a fork.

We’d really appreciate a PR review whenever it fits your schedule — happy to address any feedback or make adjustments.

Thanks a lot for your work and for maintaining this project!

[peci1]

Thanks for the PR.

I'm not yet 100% sure about the ABI breakage policy of this package, but normally, adding a class member to a public header means breaking ABI, which would mean this change could only be merged to Rolling. If you needed it to work in older ROS distros, some of the hacks for keeping ABI stable would have to be applied. Do you need this change in some of the stable distros?

[chrisbitter]

Thanks for the review @peci1 :) I fixed the code accordingly. Also tested again on our Logitech G920.

We are running on Jazzy. Also happy to help implementing the "hacks" if necessary.
Whats your proposed way forward? Shall we merge this PR and address the backward compatibility as a new issue?

[peci1]

Thanks for iterating. I tested the change and it needs some rework (which I did in enabl-tech#2 ). Would you please test my change and accept that PR towards your repo (which will then update this PR with my proposed changes).

[chrisbitter]

Great, thanks! Tested and merged in our repo.