Quadrupled joystick teleop to publish cmd_vel #113
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…y/teleop_twist_joy.cpp include/teleop_twist_joy/teleop_twist_joy.h, copied from https://github.com/ros-teleop/teleop_twist_joy/tree/4f61e6d853138b153aeda0984d2abeb7a04d87bb
…: private->protected Impl, disable joy_sub
…: set ~publish_cmd_vel true to publich cmd_vel within quadruped_joystick_teleop
…m_quadruped_joystick_teleop option to quadruped_joystick_teleop.launch. publish cmd_vel from publish_cmd_vel_from_quadruped_joystick_teleop at the specified rate, instead of teleop_node/teleop_twist_joy, which publish cmd_vel based at the rate of joy topic
… to publish cmd_vvel from publish_cmd_vel_from_quadruped_joystick_teleop at the rate defined in config/dualsense_teleop_twist_joy.yaml, instead of teleop_node/teleop_twist_joy
…n publish_cmd_vel_ is true
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publish
cmd_velfromquadruped_joystick_teleopI noticed that the cycle is not stable, probably due to reading joy on docker. On the other hand, PR2 is using https://github.com/PR2/pr2_apps/blob/melodic-devel/pr2_teleop_general/src/pr2_teleop_general_joystick.cpp to generate cmd_vel with a fixed cycle.
This patch added
publish_cmd_veloption toquadruped_joystick_teleopnode.@sktometometo