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Is there a graphical Virtual Joypad?

Hi all, I searched anywhere and I could not find a Virtual Joypad for ROS.

What I'd like to do is something like the joypad in bottom right:

image description

before starting to write my own plugin for rqt/rviz I would like to know if I'm not going to do something that exists.

Thank you Walter

PS You can download the GUI of the image here: I created it to drive a robot directly connected by Serial to a uNav motor control board.