Teleop options

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There are numerous teleop apps and packages. I guess because its a great first project. I could write one but maybe someone can point me to one that:

1) I can launch from the command line with an argument about where to teleop to 2) I can easily point to another cmd_vel

So I would like:

$ teleop [command] [count] [options]

command = f,r,l,r options: - t -> topic to use, /cmd_vel is default -c -> how many topic publishes to do

I know I could write it. But there are probably other good ideas to add to this simple idea. Any pointer where to look?