Add config and launch files for joystick teleoperations

Author: jobleier

README.md

@@ -20,3 +20,4 @@ You can check this out into your catkin workspace as follows:
  * and contains elementary safety features: stopping at walls, stairs and Neato's magnetic strips.
  * LDS, Sounds, and Leds can be set via service call
  * This ROS node works with Kinetic. 
+ * Add config to control the Neato with a joystick.

neato_node/config/joy_teleop.yaml

@@ -0,0 +1,14 @@
+teleop:
+  move:
+    type: topic
+    message_type: geometry_msgs/Twist
+    topic_name: cmd_vel
+    axis_mappings:
+      -
+        axis: 1
+        target: linear.x
+        scale: 0.6
+      -
+        axis: 3
+        target: angular.z
+        scale: 1.0

neato_node/launch/joy_teleop.launch

@@ -0,0 +1,12 @@
+<launch>
+  <arg name="cmd_vel" default="/cmd_vel" />
+  <arg name="teleop_config" default="$(find neato_node)/config/joy_teleop.yaml" />
+
+  <node pkg="joy" type="joy_node" name="joystick" output="screen" />
+
+  <rosparam file="$(arg teleop_config)" command="load" />
+  <node pkg="joy_teleop" type="joy_teleop.py" name="joy_teleop">
+    <remap from="cmd_vel" to="$(arg cmd_vel)" />
+  </node>
+
+</launch>