Remapped speed to manual_control/speed

launch/node.launch

@@ -6,7 +6,7 @@
   <arg name="invert_steering" default="True"/>
   <arg name="twist_topic"     default="/cmd_vel"/>
   <arg name="steering_topic"  default="/steering"/>
-  <arg name="speed_topic"     default="/speed"/>
+  <arg name="speed_topic"     default="/manual_control/speed"/>
 
   <node pkg ="iri_twist_to_manual_control"
         type="iri_twist_to_manual_control"

launch/teleop_keyboard.launch

@@ -2,7 +2,7 @@
 <launch>
 
   <arg name="name" default="teleop_keyboard"/>
-  <arg name="speed_topic"    default="/speed"/>
+  <arg name="speed_topic"    default="/manual_control/speed"/>
   <arg name="steering_topic" default="/steering"/>
 
   <node pkg ="teleop_twist_keyboard" 
@@ -10,13 +10,17 @@
         type="teleop_twist_keyboard.py" 
         output="screen">
     <remap from="cmd_vel" to="$(arg name)/cmd_vel"/>
+    <!--
+    <param name="~speed" value="0.25"/>
+    <param name="~turn" value="0.5"/>
+    -->
   </node>
 
   <include file="$(find iri_twist_to_manual_control)/launch/node.launch">
     <arg name="node_name"       value="$(arg name)_twist_to_manual_control"/>
     <arg name="invert_speed"    value="False"/>
     <arg name="invert_steering" value="True"/>
-    <arg name="twist_topic"     default="$(arg name)/cmd_vel"/>
+    <arg name="twist_topic"     value="$(arg name)/cmd_vel"/>
     <arg name="steering_topic"  value="$(arg steering_topic)"/>
     <arg name="speed_topic"     value="$(arg speed_topic)"/>
   </include>

launch/teleop_ps3.launch

@@ -4,7 +4,7 @@
   <arg name="name" default="teleop_ps3"/>
   <arg name="dev"  default="/dev/input/ps3joy"/>
   <arg name="config_filepath" default="$(find twist_to_manual_control)/config/ps3.yaml" />
-  <arg name="speed_topic"    default="/speed"/>
+  <arg name="speed_topic"    default="/manual_control/speed"/>
   <arg name="steering_topic" default="/steering"/>
 
   <node pkg="joy" type="joy_node" name="joy_node">
@@ -22,7 +22,7 @@
     <arg name="node_name"       value="$(arg name)_twist_to_manual_control"/>
     <arg name="invert_speed"    value="False"/>
     <arg name="invert_steering" value="True"/>
-    <arg name="twist_topic"     default="$(arg name)/cmd_vel"/>
+    <arg name="twist_topic"     value="$(arg name)/cmd_vel"/>
     <arg name="steering_topic"  value="$(arg steering_topic)"/>
     <arg name="speed_topic"     value="$(arg speed_topic)"/>
   </include>