<?xml version="1.0" ?>
<sdf version="1.6">
  <world name="placeholder">
    <plugin name="joy_to_twist" filename="JoyToTwistPlugin">

      <!-- Topic to subscribe to get joy messages -->
      <joy_topic>/joy</joy_topic>

      <!--
        Topic to publish twist messages.
        Works well with diff_drive.sdf world, see README for instructions.
      -->
      <twist_topic>/model/vehicle_blue/cmd_vel</twist_topic>

      <!-- Normal model -->

      <!-- Button which must be pressed to enable publishing, defaults to zero -->
      <enable_button>0</enable_button>

      <!-- Joystick axis for linear control of XYZ, defaults to 1 on X -->
      <axis_linear>1 0 0</axis_linear>

      <!-- Scale for linear XYZ, defaults to 0.5 on X-->
      <scale_linear>2 0 0</scale_linear>

      <!-- Scale for angular RPY, defaults to 0.5 on Yaw-->
      <scale_angular>0 0 2</scale_angular>

      <!-- Turbo mode -->

      <!-- Button which must be pressed to enable turbo, defaults to invalid (-1) -->
      <enable_turbo_button>1</enable_turbo_button>

      <!-- Scale for linear XYZ, defaults to the normal mode scale -->
      <scale_linear_turbo>5 0 0</scale_linear_turbo>

      <!-- Scale for angular RPY, defaults to the normal mode scale -->
      <scale_angular_turbo>0 0 5</scale_angular_turbo>
    </plugin>
  </world>
</sdf>

