elektron_teleop_joy.cpp

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#include <ros/ros.h>
#include <sensor_msgs/Joy.h>
#include <geometry_msgs/Twist.h>

class ElektronTeleopJoy {
public:
        ElektronTeleopJoy();
        void publish();

private:
        void joyCallback(const sensor_msgs::Joy::ConstPtr& joy);

        ros::NodeHandle nh_;

        int linear_, angular_;
        double l_scale_, a_scale_;
        ros::Publisher vel_pub_;
        ros::Subscriber joy_sub_;

        geometry_msgs::Twist vel;

};

ElektronTeleopJoy::ElektronTeleopJoy() {
        nh_.param("axis_linear", linear_, 1);
        nh_.param("axis_angular", angular_, 0);
        nh_.param("scale_angular", a_scale_, 1.0);
        nh_.param("scale_linear", l_scale_, 0.23);

        vel_pub_ = nh_.advertise<geometry_msgs::Twist> ("cmd_vel", 1);

        joy_sub_ = nh_.subscribe<sensor_msgs::Joy> ("joy", 10,
                        &ElektronTeleopJoy::joyCallback, this);

}

void ElektronTeleopJoy::publish() {
        vel_pub_.publish(vel);
}

void ElektronTeleopJoy::joyCallback(const sensor_msgs::Joy::ConstPtr& joy) {
        vel.angular.z = a_scale_ * joy->axes[angular_];
        vel.linear.x = l_scale_ * joy->axes[linear_];
}

int main(int argc, char** argv) {
        ros::init(argc, argv, "teleop_turtle");
        ElektronTeleopJoy elektron_teleop;

        ros::Rate loop_rate(50);

        while(ros::ok())
        {
                elektron_teleop.publish();

                ros::spinOnce();
                loop_rate.sleep();
        }

}