old_contents: #!/usr/bin/env python
  import rospy
  from geometry_msgs.msg import Twist
  from sensor_msgs.msg import Joy
   
  def callback(data):
  	twist = Twist()
  	if  abs(data.axes[1]) > 0.05 :
  		twist.linear.x = (data.axes[1]) * 100
  		
  	if abs(data.axes[2]) > 0.01:
  		twist.angular.z = 3.1415926*(data.axes[2]) / 4
  		
  	pub.publish(twist)
   
  def joy_teleop():
  	rospy.init_node('Joy_teleop')
  	rospy.Subscriber("joy", Joy, callback)
  	global pub
  	pub = rospy.Publisher('/ocare/pose_fuzzy_controller/diff_cmd', Twist)
   
  	r = rospy.Rate(10) # 10hz
  	while not rospy.is_shutdown():
  		r.sleep()
   
  	# spin() simply keeps python from exiting until this node is stopped
  	rospy.spin()
   
  if __name__ == '__main__':
  	joy_teleop()
  
new_contents: #!/usr/bin/env python
  import rospy
  from geometry_msgs.msg import Twist
  from sensor_msgs.msg import Joy
   
  def callback(data):
  	twist = Twist()
  	if  abs(data.axes[1]) > 0.05 :
  		twist.linear.x = (data.axes[1]) * 100
  		
  	if abs(data.axes[2]) > 0.01:
  		twist.angular.z = 3.1415926*(data.axes[2]) /2
  		
  	pub.publish(twist)
   
  def joy_teleop():
  	rospy.init_node('Joy_teleop')
  	rospy.Subscriber("joy", Joy, callback)
  	global pub
  	pub = rospy.Publisher('/ocare/pose_fuzzy_controller/diff_cmd', Twist)
   
  	r = rospy.Rate(10) # 10hz
  	while not rospy.is_shutdown():
  		r.sleep()
   
  	# spin() simply keeps python from exiting until this node is stopped
  	rospy.spin()
   
  if __name__ == '__main__':
  	joy_teleop()
  
subject: 修改Joy topic轉送的角度乘積量，原本為0.25 改成 0.5 以讓機身可以90度轉