# cyphal_hardware_interface


<!-- ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -p stamped:=true --remap cmd_vel:=staubi_base_controller/cmd_vel -->
<!-- ros2 launch teleop_twist_joy teleop-launch.py joy_vel:=staubi_base_controller/cmd_vel -->
<!-- ros2 topic pub /vacuum_controller/commands std_msgs/msg/Float64MultiArray "data: [1]" -->

# Joystick in podman
```
sudo podman run -it --network host --volume="/home/nils/development/ros2_ws:/ros2_ws" --privileged osrf/ros:rolling-desktop-full bash -c "ros2 run joy joy_node"
```