diff --git a/rmp220_teleop.py b/rmp220_teleop.py
new file mode 100644
index 0000000..8f253d1
--- /dev/null
+++ b/rmp220_teleop.py
@@ -0,0 +1,59 @@
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import Joy
+from geometry_msgs.msg import Twist
+from segway_msgs.srv import RosSetChassisEnableCmd
+
+
+class TeleopTwistJoy(Node):
+
+    def __init__(self):
+        super().__init__('teleop_twist_joy')
+        self.cmd_vel_pub = self.create_publisher(Twist, '/cmd_vel', 10)
+        self.joy_sub = self.create_subscription(Joy, 'joy', self.joy_callback, 10)
+        self.timer = self.create_timer(0.01, self.timer_callback)
+        self.twist = Twist()
+
+    def joy_callback(self, joy_msg):
+        self.twist.linear.x = 1 * joy_msg.axes[1]
+        self.twist.angular.z = 1.0 * joy_msg.axes[0]
+
+    def timer_callback(self):
+        self.cmd_vel_pub.publish(self.twist)
+
+
+def enable_chassis(node):
+    chassis_enable = node.create_client(RosSetChassisEnableCmd, '/set_chassis_enable')
+    req = RosSetChassisEnableCmd.Request()
+    req.ros_set_chassis_enable_cmd = True
+    while not chassis_enable.wait_for_service(timeout_sec=1.0):
+        print('Service not available, waiting again...')
+    chassis_enable.call_async(req)
+
+def disable_chassis(node):
+    chassis_disable = node.create_client(RosSetChassisEnableCmd, '/set_chassis_enable')
+    req = RosSetChassisEnableCmd.Request()
+    req.ros_set_chassis_enable_cmd = False
+    while not chassis_disable.wait_for_service(timeout_sec=1.0):
+        print('Service not available, waiting again...')
+    chassis_disable.call_async(req)
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    try:
+        teleop_twist_joy = TeleopTwistJoy()
+        enable_chassis(teleop_twist_joy)  # Call the function to enable the chassis
+        rclpy.spin(teleop_twist_joy)
+    except KeyboardInterrupt:
+        disable_chassis(teleop_twist_joy) # chassis disable for safe close
+        req = RosSetChassisEnableCmd.Request()
+        req.ros_set_chassis_enable_cmd = False
+        #rclpy.spin_until_future_complete(teleop_twist_joy, future)
+    finally:
+        teleop_twist_joy.destroy_node()
+        rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()