What is required in ROS to use this extension?

[anthonywebb]

I’ve been trying to figure out what I should be running on the ROS side to receive these commands and control my ros2_control? There are lots of joystick packages to choose from, wondering which is needed?

[mohsenrahmanikivi]

You need to subscribe to /joy and publish to /cmd_vel. In this case, it is recommended to use the teleop_twist package, considering your robot is already set up to subscribe to /cmd_vel.