joy_to_twist.py

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#!/usr/bin/env python
import roslib; roslib.load_manifest('thymio_navigation_driver')
import rospy
from geometry_msgs.msg import Twist
from sensor_msgs.msg import Joy

class JoyToTwist(object):
        def __init__(self):
                rospy.Subscriber('/joy', Joy, self.joy_cb)
                self.cmdvel_pub = rospy.Publisher('/cmd_vel', Twist)
        
        def joy_cb(self, joy):
                tw = Twist()
                tw.linear.x = 0.15*joy.axes[1]
                tw.angular.z = 2.*joy.axes[0]
                self.cmdvel_pub.publish(tw)

## Create a ROS node and instantiate the class.
def main():
        '''Create a ROS node and instantiate the class.'''
        try:
                rospy.init_node('joy_to_twist')
                jtt = JoyToTwist()
                rospy.spin()
        except rospy.ROSInterruptException:
                pass

if __name__== '__main__':
        main()