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If you would like to add to an existing ROS package then the process is the same as contributing to most open source repositories.
The teleop_tools repository contains the package you're referring to. In order to contribute an update you'll need to follow the process below.
1) Fork this repository so you have your own version of the code base, you'll need a git hub account if you haven't got one already.
2) Clone your fork of this repository to you computer.
3) Add the new node you describe and test that everything's working.
4) Commit these changes and push them up to your fork of the repository.
5) Open a full request on the teleop_tools repository requesting that the maintainers look at merging your updated fork into the main branch.
Thanks for putting the time in to contribute, and let us know if you have any more questions.
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