Single Joystick

Single Joystick puts one control scheme on a single stick. Differential wires stick Y to linear.x, stick X to angular.z: the standard ground-robot mapping. Throttle swaps stick Y for linear.z, altitude for a drone or lift. The stick clamps to a circle, trading turn rate for forward speed; for independent full range on both, or a drone that also needs roll and pitch, use Dual Joystick.

It publishes only while you are touching it. An idle stick sends nothing at all, so a joystick sitting on your dashboard never competes with the robot's own navigation for the topic.

Topic /cmd_vel, Robot Type Differential, Max Linear Speed 0.22, Max Angular Speed 2.84: the Burger's top speed (m/s) and turn rate (rad/s). Every field but the two speed caps is already this widget's default, so add it and dial in just those two numbers. The RECOMMENDED strip won't hand you this pre-wired though: for a /cmd_vel topic it proposes Dual Joystick, not this widget.

• Max Linear Speed and Max Angular Speed are scaling caps, not safety limits: full stick deflection asks for exactly that many m/s or rad/s. Enter the robot's true top speed and it will try to hit it, regardless of terrain.
• Lifting your finger sends a zero Twistright away, without waiting for the next publish tick, so a busy app can't delay it.
• On Release decides what happens after that zero, and it defaults to Send stop once: one zero Twist, then silence. Switch to Repeat stop briefly only for a base that latches the last command it was handed, and it resends the stop for Repeat For (s), which defaults to 1 second and is bounded to 5.