From 1e45c416dcb440628a9dfcaafa6662a8a84d021d Mon Sep 17 00:00:00 2001
From: Naotaka Hatao <hatao.jsk@gmail.com>
Date: Fri, 23 Aug 2019 18:56:57 +0900
Subject: [PATCH 1/2] Publish twist soon after simulator starts

---
 joystick_interrupt/src/joystick_interrupt.cpp | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/joystick_interrupt/src/joystick_interrupt.cpp b/joystick_interrupt/src/joystick_interrupt.cpp
index a684ff7c..f5a88f38 100644
--- a/joystick_interrupt/src/joystick_interrupt.cpp
+++ b/joystick_interrupt/src/joystick_interrupt.cpp
@@ -27,8 +27,8 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include <ros/ros.h>
 #include <geometry_msgs/Twist.h>
+#include <ros/ros.h>
 #include <sensor_msgs/Joy.h>
 #include <std_msgs/Bool.h>
 
@@ -134,7 +134,8 @@ class JoystickInterrupt
   void cbTwist(const geometry_msgs::Twist::Ptr msg)
   {
     std_msgs::Bool status;
-    if (ros::Time::now() - last_joy_msg_ > ros::Duration(timeout_))
+    if (ros::Time::now() - last_joy_msg_ > ros::Duration(timeout_) ||
+        (ros::Time::isSimTime() && last_joy_msg_ == ros::Time(0)))
     {
       pub_twist_.publish(*msg);
       status.data = true;

From de0354508eba5c1134e900aa596433b90bd1205f Mon Sep 17 00:00:00 2001
From: Naotaka Hatao <hatao.jsk@gmail.com>
Date: Tue, 1 Oct 2019 14:08:09 +0900
Subject: [PATCH 2/2] Revert include order

---
 joystick_interrupt/src/joystick_interrupt.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/joystick_interrupt/src/joystick_interrupt.cpp b/joystick_interrupt/src/joystick_interrupt.cpp
index f5a88f38..356f5a62 100644
--- a/joystick_interrupt/src/joystick_interrupt.cpp
+++ b/joystick_interrupt/src/joystick_interrupt.cpp
@@ -27,8 +27,8 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include <geometry_msgs/Twist.h>
 #include <ros/ros.h>
+#include <geometry_msgs/Twist.h>
 #include <sensor_msgs/Joy.h>
 #include <std_msgs/Bool.h>