#!/bin/bash
ros2 run joy joy_node &
JOY_PID=$!
trap "kill $JOY_PID 2>/dev/null" EXIT

PARAMS=(-p publish_stamped_twist:=true)
if [[ -n "${JOY_CONFIG}" ]]; then
    CONFIG_PATH="$(ros2 pkg prefix teleop_twist_joy)/share/teleop_twist_joy/config/${JOY_CONFIG}.config.yaml"
    PARAMS=(--params-file "$CONFIG_PATH" "${PARAMS[@]}")
fi

exec ros2 run teleop_twist_joy teleop_node \
    --ros-args "${PARAMS[@]}" "$@"
