We currently use teleop_twist_joy to convert joy messages to Twist messages which allows us to maintain less code and rely on tried and true libraries. However it means we're restricted in what we can do:
no tweaking of mapping function type from joystick movement to twist. Right now that mapping seems linear (need to verify) while it would be good to have some kind of exponential mapping so that steering and acceleration is not as sensitive
we can't use button switches to perform things like changing drive mode to effort or adjusting PID values out of the box
Potential solutions
fork the library and modify it to include these functions
use the library as is but write a separate node that also listens to the /joy topic. This might lead to a bit of hackiness.
Problem statement
We currently use
teleop_twist_joyto convert joy messages to Twist messages which allows us to maintain less code and rely on tried and true libraries. However it means we're restricted in what we can do:Potential solutions
/joytopic. This might lead to a bit of hackiness.