#include <ros/ros.h>
#include <sensor_msgs/Joy.h>
#include <geometry_msgs/Twist.h>
#include <wiringPi.h>  
include <sensor_msgs joy.h="">  
include <geometry_msgs twist.h="">
 
include <wiringpi.h>
 
class JoyTwist
{
public:
  JoyTwist()
  {
    ros::NodeHandle node;
    joy_sub_ = node.subscribe("joy", 1, &JoyTwist::joyCallback, this);
  }}
  
 void joyCallback(const sensor_msgs::Joy &joy_msg)
  {
    wiringPiSetup(); 
    pinMode(18,OUTPUT); 
    pinMode(19,OUTPUT);
    if (joy_msg.buttons[0] == 1)
    {
      digitalWrite(18, 110 + joy_msg.axes[1] * 10);
      digitalWrite(19, 105 + joy_msg.axes[0] * 15); 
 
    }
  }
private:
  ros::Subscriber joy_sub_;
};};
  
int main(int argc, char **argv) {
  ros::init(argc, argv, "joy_twist");
  JoyTwist joy_twist;
  ros::spin();
}}