teleop_joy.h

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#ifndef __TELEOP_JOY_H__
#define __TELEOP_JOY_H__

#include <ros/ros.h>

// messages
#include <geometry_msgs/Twist.h>
#include <sensor_msgs/Joy.h>
#include <std_msgs/Bool.h>

class TeleopJoy {
    public:
        TeleopJoy();

        ~TeleopJoy();

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

        // node
        ros::NodeHandle _nh;

        int axis_analog_linear, axis_analog_angular;
        int axis_digital_linear, axis_digital_angular;
        double scale_linear, scale_angular;

        // base publisher
        ros::Publisher _vel_pub;

        // arms publishers
        ros::Publisher _right_arm_vel_pub;
        ros::Publisher _left_arm_vel_pub;

        // neck publishers
        ros::Publisher _neck_pan_vel_pub;   // movement around the z axis
        ros::Publisher _neck_tilt_vel_pub;  // movement around the y axis

        // joy subscriber
        ros::Subscriber _joy_sub;
};

#endif