[ros-users] Wiki documentation for twist_mux package

Mike Purvis mpurvis at clearpathrobotics.com
Mon Apr 6 12:56:40 UTC 2015

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.


On 5 April 2015 at 22:48, Daniel Stonier via ros-users <
ros-users at 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 <ros-users at lists.ros.org>
> 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
> <http://rnd.yujinrobot.com/>
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