Agree, but I think teleop and muxers in particular are a bit of a special case. They're so easy to write, and are a decent learning opportunity, so a lot of them get created by novices in the learning process, and then unwittingly made available as "universal" or "generic". If you're integrating a robot and need either of these services, I encourage you to check out the ros-teleop org on github . Even within the org, there's slight repetition, but the basic idea is that joy_teleop and key_teleop are python-implemented and very flexible, able to publish *any* message based on configuration from a yaml file, whereas teleop_twist_joy is specifically for publishing twist messages, and is C++ implemented, intended to be able to easily compile into a larger "base robot" node. The twist_mux package does what it says on the tin, and is similarly easy to embed into another process. M. On 5 April 2015 at 22:48, Daniel Stonier via ros-users < ros-users@lists.ros.org> wrote: > > Seems to be rather alot of parallelisation happening these days. > > I understand that it takes time to collaborate and that natural selection > from multiple implementations are also a way of evolving the code available > in our robotic community, but I do believe at least some preliminary > discussion and collaboration on software that 90% fits can often get you > that last 10% much faster than evolving it entirely yourself. It also > rounds out an implementation to be more satisfactory for everyone. Another > problem everpresent with ROS software is maintenance - n implementations > are of no use long term if maintainers can't keep up with all that they try > to maintain. > > I'd like to encourage people to first look to see what is there, see if > something is a 90% fit, discuss and then iterate using the usual fork/pull > request cycle where possible. > > Daniel. > > On 6 April 2015 at 09:27, Jihoon via ros-users > wrote: > >> FYI, >> >> There has also been another twist mux. >> http://wiki.ros.org/yocs_cmd_vel_mux >> >> Cheers, >> Jihoon >> >> >> >> >> On 2015년 04월 06일 09:19, Enrique Fernández Perdomo via ros-users wrote: >> >> Hello everyone, >> >> I've recently and finally added some documentation for the twist_mux >> package; although it still can be improved. This package allows to >> multiplex geometry_msgs::Twist messages. >> >> http://wiki.ros.org/twist_mux >> >> Please, don't hesitate to contact me for any doubt or suggestion. >> Note that I've recently updated my e-mail as maintainer, and here I'm >> using my personal one. Feel free to reach me which any of them. >> >> Cheers, >> Enrique >> >> >> > > > _______________________________________________ > ros-users mailing list > ros-users@lists.ros.org > http://lists.ros.org/mailman/listinfo/ros-users > >