turtle_teleop_joy.py

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#!/usr/bin/env python                                                                                        
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# Author Melonee Wise 

import roslib; roslib.load_manifest('turtle_teleop')
import rospy
import turtlesim 
import sensor_msgs


def joy_cb(joy):
  vel = turtlesim.msg.Velocity()
  vel.angular = a_scale*joy.axes[angular];
  vel.linear = l_scale*joy.axes[linear];
  pub.publish(vel);

if __name__ == '__main__':

  name ='turtle_teleop'
  rospy.init_node(name)

  linear = rospy.get_param('axis_linear', 1)
  angular = rospy.get_param('axis_angular', 2)
  l_scale = rospy.get_param('scale_linear', 50.0)
  a_scale = rospy.get_param('scale_angular', 2.0)
  
  sub = rospy.Subscriber("joy", sensor_msgs.msg.Joy, joy_cb)
  pub = rospy.Publisher("turtle1/command_velocity", turtlesim.msg.Velocity)

  rospy.spin()