Interface
Published topics, message types, QoS settings, and frame conventions
Interface
All communication is publish-only — this node exposes no services or actions.
Published Topics
Prop
Type
All topics use the default ROS 2 QoS (RELIABLE, depth 10).
Message Structure
/joy — sensor_msgs/msg/Joy
/cmd_vel — geometry_msgs/msg/Twist
Prop
Type
Output is scaled by linear_scale (m/s) and angular_scale (rad/s). Fields not listed above (angular.x, angular.y) are always 0.0.
/cmd_vel outputs all zeros unless the deadman button is held. Set deadman_btn: -1 to disable this safety — see Parameters.
/deadman — std_msgs/msg/Bool
A single data field: true when the deadman button is pressed, false otherwise. Useful for downstream nodes that need an independent safety gate.
Frame ID
The Joy message header.frame_id is set to "extreme3dpro". Override this by remapping or using a static_transform_publisher if your TF tree requires a different frame name.
Topic Remapping
Default remappings in the launch file:
remappings=[
('joy', '/joy'),
('cmd_vel', '/cmd_vel'),
('deadman', '/deadman'),
]Override at runtime:
ros2 run extreme3dpro_driver extreme3dpro_node \
--ros-args -r joy:=/my_robot/joy -r cmd_vel:=/my_robot/cmd_vel