diff --git a/README.md b/README.md
new file mode 100644
index 0000000..8696990
--- /dev/null
+++ b/README.md
@@ -0,0 +1,5 @@
+### Tutorial code for using a Linux Joystick device with ROS
+
+This code demonstrates how to setup a linux joystick device with ROS and interface it with the turtlesim program. The tutorial text is available on the ROS Wiki article [Writing a Teleoperation Node for a Linux-Supported Joystick][1].
+
+[1]:http://wiki.ros.org/joy/Tutorials/WritingTeleopNode
diff --git a/turtle_teleop/src/teleop_turtle_joy.cpp b/turtle_teleop/src/teleop_turtle_joy.cpp
index 187b54b..e4a4690 100644
--- a/turtle_teleop/src/teleop_turtle_joy.cpp
+++ b/turtle_teleop/src/teleop_turtle_joy.cpp
@@ -1,7 +1,7 @@
 // %Tag(FULL)%
 // %Tag(INCLUDE)%
 #include <ros/ros.h>
-#include <turtlesim/Velocity.h>
+#include <geometry_msgs/Twist.h>
 #include <sensor_msgs/Joy.h>
 // %EndTag(INCLUDE)%
 // %Tag(CLASSDEF)%
@@ -34,7 +34,7 @@ TeleopTurtle::TeleopTurtle():
   nh_.param("scale_linear", l_scale_, l_scale_);
 // %EndTag(PARAMS)%
 // %Tag(PUB)%
-  vel_pub_ = nh_.advertise<turtlesim::Velocity>("turtle1/command_velocity", 1);
+  vel_pub_ = nh_.advertise<geometry_msgs::Twist>("turtle1/cmd_vel", 1);
 // %EndTag(PUB)%
 // %Tag(SUB)%
   joy_sub_ = nh_.subscribe<sensor_msgs::Joy>("joy", 10, &TeleopTurtle::joyCallback, this);
@@ -43,10 +43,10 @@ TeleopTurtle::TeleopTurtle():
 // %Tag(CALLBACK)%
 void TeleopTurtle::joyCallback(const sensor_msgs::Joy::ConstPtr& joy)
 {
-  turtlesim::Velocity vel;
-  vel.angular = a_scale_*joy->axes[angular_];
-  vel.linear = l_scale_*joy->axes[linear_];
-  vel_pub_.publish(vel);
+  geometry_msgs::Twist twist;
+  twist.linear.x = l_scale_*joy->axes[linear_];
+  twist.angular.z = a_scale_*joy->axes[angular_];
+  vel_pub_.publish(twist);
 }
 // %EndTag(CALLBACK)%
 // %Tag(MAIN)%