About the configuration of waypoints_nav program

[ju-mingyue]

@DaikiMaekawa Hello,Mr. DaikiMaekawa, after running the waypoints_nav program, do I still need to run move_base?

At the same time, I use the handle to control the robot to build the map, so how do I need to modify my handle program to match this package? Below is my handle program and launch file：

`
#!/usr/bin/python
#coding=utf-8
import time
import rospy
from sensor_msgs.msg import Joy
from geometry_msgs.msg import Twist
class Joy360:
def init(self):
self.__line_x = 0
self.__angle_z = 0
self.__pub_cmd_vel = None #:
self.__pub_can_vel = None
self.__start = False
rospy.init_node("joy")
rospy.Subscriber("joy",Joy,self.joy_callback)
#self.__pub_cmd_vel = rospy.Publisher("/cmd_vel",Twist,queue_size=100)
self.__pub_cmd_vel = rospy.Publisher("/joy/cmd_vel",Twist,queue_size=100)

def joy_callback(self,data):
    if data.buttons[10] == 1:
        self.__start = not self.__start
    self.__line_x = data.axes[1]*0.3
    self.__angle_z = data.axes[3]*0.3

def start(self):
    rospy.loginfo("init node ok!!")
    try:
        while not rospy.is_shutdown():
            #time.sleep(0.01)
            cmd= Twist()
            cmd.linear.x=self.__line_x
            cmd.angular.z=self.__angle_z
            if self.__start:
               self.__pub_cmd_vel.publish(cmd)
    except KeyboardInterrupt as e:
         rospy.loginfo("quit by user " + str(e))

if name=="main":
joy_ins = Joy360()
joy_ins.start()`

[DaikiMaekawa]

@ju-mingyue Yep, you need to run move_base as waypoints_nav internally calls it unless your robot's system already provides a compatible interface.

[ju-mingyue]

@DaikiMaekawa Hello, how does my controller post topics to the waypoints_saver file? Do I need to post a topic of handle buttons in the program?