ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
1 | initial version |
In turtlebot_teleop, in the joystick they do it like I did (actually I copied the structure) and it works...
TurtlebotTeleop::TurtlebotTeleop(): ph_("~"), linear_(1), angular_(0), deadman_axis_(4), l_scale_(0.3), a_scale_(0.9), lin_vel_fix(0), ang_vel_fix(0) { ph_.param("axis_linear", linear_, linear_); ph_.param("axis_angular", angular_, angular_); ph_.param("axis_deadman", deadman_axis_, deadman_axis_); ph_.param("scale_angular", a_scale_, a_scale_); ph_.param("scale_linear", l_scale_, l_scale_); vel_pub_ = nh_.advertise<geometry_msgs::twist>("cmd_vel", 1); joy_sub_ = nh_.subscribe<sensor_msgs::joy>("joy", 10, &TurtlebotTeleop::joyCallback,this); timer_ = nh_.createTimer(ros::Duration(0.1), boost::bind(&TurtlebotTeleop::publish, this)); }