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src/custom-ur-descriptions/cms_moveit_config/config/joystick_teleop.yaml

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translation_teleop:
  ros__parameters:
    require_enable_button: true
    enable_button: 10  # Hold RB
    enable_turbo_button: -1
    axis_linear: {x: 1, y: 0, z: 3}
    scale_linear: {x: -1.0, y: -1.0, z: -1.0}
    axis_angular: {yaw: -1, pitch: -1, roll: -1}
    publish_stamped_twist: true
    frame: base_link

rotation_teleop:
  ros__parameters:
    require_enable_button: true
    enable_button: 9  # Hold LB
    enable_turbo_button: -1
    axis_linear: {x: -1, y: -1, z: -1}
    axis_angular: {yaw: 2, pitch: 1, roll: 0}
    scale_angular: {yaw: 1.0, pitch: -1.0, roll: 1.0}
    publish_stamped_twist: true
    frame: base_link