Move Hero with controller

[LarsJanssenTUe]

[JosjaG]

Two nodes are required to achieve the setup described in the tmc manual: the interactive_teleop_joy node of tmc and the standard joy_node of the joy package:

roslaunch hsrb_interactive_teleop_config hsrb_interactive_teleop_joy.launch
export ROS_NAMESPACE=/hsrb
rosrun joy joy_node 

Then the problem arises that the interactive teleop node publishes to standard Toyota topics, and not our own (so hsrb stuff instead of hero), for example: it publishes to /hsrb/command_velocity whilst in our case, we want that to be /hero/base/references.

[JosjaG]

We could develop our own node that subscribes to the joy topic, then we can choose ourselves what each button does. This might take some more time but it does not require that we remap all the standard Toyota topics (using the interactive_teleop node does require this).