This repo makes use of the modified teleoperation package provided by Clearpath Robotics.
Requriers a working installation of ROS Noetic, and the teleop-twist-joy package which can be installed via sudo apt install ros-noetic-teleop-twist-joy.
First, clone this github repo, and navigate into teleoperation/robot_control and run the following commands:
catkin_make
source devel/setup.sh
Then, to launch the teleop node, run the following command:
roslaunch robot_control teleop.launch joy_dev:=/dev/input/js0 robot_name:=ROBOT_NAME
Teleop topics should be then remapped from their default bluetooth_teleop topics to ROBOT_NAME/bluetooth_teleop