diff --git a/.idea/runConfigurations.xml b/.idea/runConfigurations.xml
deleted file mode 100644
index 7f68460d..00000000
--- a/.idea/runConfigurations.xml
+++ /dev/null
@@ -1,12 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="RunConfigurationProducerService">
-    <option name="ignoredProducers">
-      <set>
-        <option value="org.jetbrains.plugins.gradle.execution.test.runner.AllInPackageGradleConfigurationProducer" />
-        <option value="org.jetbrains.plugins.gradle.execution.test.runner.TestClassGradleConfigurationProducer" />
-        <option value="org.jetbrains.plugins.gradle.execution.test.runner.TestMethodGradleConfigurationProducer" />
-      </set>
-    </option>
-  </component>
-</project>
\ No newline at end of file
diff --git a/app/src/main/java/com/schneewittchen/rosandroid/widgets/button/ButtonData.java b/app/src/main/java/com/schneewittchen/rosandroid/widgets/button/ButtonData.java
index 04894eaa..1428f513 100644
--- a/app/src/main/java/com/schneewittchen/rosandroid/widgets/button/ButtonData.java
+++ b/app/src/main/java/com/schneewittchen/rosandroid/widgets/button/ButtonData.java
@@ -1,5 +1,7 @@
 package com.schneewittchen.rosandroid.widgets.button;
 
+import android.util.Log;
+
 import com.schneewittchen.rosandroid.model.entities.widgets.BaseEntity;
 import com.schneewittchen.rosandroid.model.repositories.rosRepo.node.BaseData;
 
@@ -28,6 +30,7 @@ public  ButtonData(boolean pressed) {
 
     @Override
     public Message toRosMessage(Publisher<Message> publisher, BaseEntity widget) {
+        Log.d("name", widget.name);
         std_msgs.Bool message = (Bool) publisher.newMessage();
         message.setData(pressed);
         return message;
diff --git a/app/src/main/java/com/schneewittchen/rosandroid/widgets/button/ButtonView.java b/app/src/main/java/com/schneewittchen/rosandroid/widgets/button/ButtonView.java
index 1fb54780..626d93f9 100644
--- a/app/src/main/java/com/schneewittchen/rosandroid/widgets/button/ButtonView.java
+++ b/app/src/main/java/com/schneewittchen/rosandroid/widgets/button/ButtonView.java
@@ -11,6 +11,8 @@
 import android.util.AttributeSet;
 import android.view.MotionEvent;
 
+
+
 import com.schneewittchen.rosandroid.R;
 import com.schneewittchen.rosandroid.ui.views.widgets.PublisherWidgetView;
 
diff --git a/app/src/main/java/com/schneewittchen/rosandroid/widgets/directional/DirectionalData.java b/app/src/main/java/com/schneewittchen/rosandroid/widgets/directional/DirectionalData.java
new file mode 100644
index 00000000..e886743a
--- /dev/null
+++ b/app/src/main/java/com/schneewittchen/rosandroid/widgets/directional/DirectionalData.java
@@ -0,0 +1,81 @@
+package com.schneewittchen.rosandroid.widgets.directional;
+
+import com.schneewittchen.rosandroid.model.entities.widgets.BaseEntity;
+import com.schneewittchen.rosandroid.model.repositories.rosRepo.node.BaseData;
+import com.schneewittchen.rosandroid.widgets.joystick.JoystickEntity;
+
+import org.ros.internal.message.Message;
+import org.ros.node.topic.Publisher;
+
+import geometry_msgs.Twist;
+import geometry_msgs.Vector3;
+
+import android.util.Log;
+
+
+/**
+ * TODO: Description
+ *
+ * @author Nico Studt
+ * @version 1.0.0
+ * @created on 17.03.20
+ * @updated on 17.03.20
+ * @modified by
+ */
+public class DirectionalData extends BaseData {
+
+    public static final String TAG = DirectionalData.class.getSimpleName();
+
+    private double getSpeed(String sense, double value) {
+        if (sense.equals("Positive") && value >= 0) {
+            return value;
+        } else if (sense.equals("Positive") && value < 0) {
+            return -value;
+        } else if (value < 0) {
+            return value;
+        } else {
+            return -value;
+        }
+    }
+
+    @Override
+    public Message toRosMessage(Publisher<Message> publisher, BaseEntity widget) {
+
+        DirectionalEntity dirWidget = (DirectionalEntity) widget;
+
+        Log.d("name", dirWidget.name);
+        Log.d("topic", dirWidget.topic.name);
+        Log.d("position", Integer.toString(dirWidget.posX));
+        Log.d("axis", dirWidget.axis);
+        Log.d("dir", dirWidget.direction);
+        Log.d("sense", dirWidget.sense);
+
+        geometry_msgs.Twist message = (Twist) publisher.newMessage();
+        Vector3 dirVector;
+
+        double speed = 0.3;
+        if (dirWidget.direction.equals(("Linear"))) {
+            dirVector = message.getLinear();
+        } else {
+            dirVector = message.getAngular();
+        }
+        if (dirWidget.speed > 0) {
+            speed = dirWidget.speed;
+        }
+        String sense = dirWidget.sense;
+
+        switch (dirWidget.axis) {
+            case "X":
+                dirVector.setX(getSpeed(sense, speed));
+                break;
+            case "Y":
+                dirVector.setY(getSpeed(sense, speed));
+                break;
+            case "Z":
+                dirVector.setZ(getSpeed(sense, speed));
+                break;
+        }
+
+        return message;
+    }
+}
diff --git a/app/src/main/java/com/schneewittchen/rosandroid/widgets/directional/DirectionalDetailVH.java b/app/src/main/java/com/schneewittchen/rosandroid/widgets/directional/DirectionalDetailVH.java
new file mode 100644
index 00000000..58e3d9fb
--- /dev/null
+++ b/app/src/main/java/com/schneewittchen/rosandroid/widgets/directional/DirectionalDetailVH.java
@@ -0,0 +1,111 @@
+package com.schneewittchen.rosandroid.widgets.directional;
+
+import android.util.Log;
+import android.view.View;
+import android.widget.ArrayAdapter;
+import android.widget.EditText;
+import android.widget.Spinner;
+import android.widget.TextView;
+
+import com.schneewittchen.rosandroid.R;
+import com.schneewittchen.rosandroid.model.entities.widgets.BaseEntity;
+import com.schneewittchen.rosandroid.ui.views.details.PublisherWidgetViewHolder;
+import com.schneewittchen.rosandroid.utility.Utils;
+import com.schneewittchen.rosandroid.widgets.button.ButtonEntity;
+
+import java.util.Collections;
+import java.util.List;
+import java.util.Locale;
+
+import geometry_msgs.Twist;
+import std_msgs.Bool;
+
+
+/**
+ * TODO: Description
+ *
+ * @author Nico Studt
+ * @version 1.0.2
+ * @created on 13.02.20
+ * @updated on 20.05.20
+ * @modified by Nico Studt
+ * @updated on 05.11.2020
+ * @modified by Nico Studt
+ */
+public class DirectionalDetailVH extends PublisherWidgetViewHolder {
+
+    private EditText textText;
+    private EditText speedText;
+    private Spinner rotationSpinner;
+    private Spinner axisSpinner;
+    private Spinner senseSpinner;
+    private Spinner directionSpinner;
+    private ArrayAdapter<CharSequence> rotationAdapter;
+    private ArrayAdapter<CharSequence> axisAdapter;
+    private ArrayAdapter<CharSequence> senseAdapter;
+    private ArrayAdapter<CharSequence> directionAdapter;
+
+
+    @Override
+    public void initView(View view) {
+        textText = view.findViewById(R.id.btnTextTypeText);
+        speedText = view.findViewById(R.id.speedTextTypeText);
+
+        rotationSpinner = view.findViewById(R.id.btnTextRotation);
+        axisSpinner = view.findViewById(R.id.btnTextAxis);
+        directionSpinner = view.findViewById(R.id.btnTextDirection);
+        senseSpinner = view.findViewById(R.id.btnTextSense);
+
+        // Init spinners
+        rotationAdapter = ArrayAdapter.createFromResource(view.getContext(),
+                R.array.button_rotation, android.R.layout.simple_spinner_dropdown_item);
+        rotationSpinner.setAdapter(rotationAdapter);
+
+        axisAdapter = ArrayAdapter.createFromResource(view.getContext(),
+                R.array.directional_twist_axis, android.R.layout.simple_spinner_dropdown_item);
+        axisSpinner.setAdapter(axisAdapter);
+
+        directionAdapter = ArrayAdapter.createFromResource(view.getContext(),
+                R.array.directional_twist_dir, android.R.layout.simple_spinner_dropdown_item);
+        directionSpinner.setAdapter(directionAdapter);
+
+        senseAdapter = ArrayAdapter.createFromResource(view.getContext(),
+                R.array.directional_twist_sense, android.R.layout.simple_spinner_dropdown_item);
+        senseSpinner.setAdapter(senseAdapter);
+    }
+
+    @Override
+    protected void bindEntity(BaseEntity entity) {
+        DirectionalEntity buttonEntity = (DirectionalEntity) entity;
+
+        textText.setText(buttonEntity.text);
+        speedText.setText(String.valueOf(buttonEntity.speed));
+
+        String degrees = Utils.numberToDegrees(buttonEntity.rotation);
+
+        rotationSpinner.setSelection(rotationAdapter.getPosition(degrees));
+        axisSpinner.setSelection(axisAdapter.getPosition(buttonEntity.axis));
+        directionSpinner.setSelection(directionAdapter.getPosition(buttonEntity.direction));
+        senseSpinner.setSelection(senseAdapter.getPosition(buttonEntity.sense));
+    }
+
+    @Override
+    protected void updateEntity(BaseEntity entity) {
+        DirectionalEntity buttonEntity = (DirectionalEntity)entity;
+
+        buttonEntity.text = textText.getText().toString();
+        if (speedText.getText().length() > 0 ) {
+            buttonEntity.speed = Double.parseDouble(speedText.getText().toString());
+        }
+        String degrees = rotationSpinner.getSelectedItem().toString();
+        buttonEntity.rotation = Utils.degreesToNumber(degrees);
+        buttonEntity.axis = axisSpinner.getSelectedItem().toString();
+        buttonEntity.direction = directionSpinner.getSelectedItem().toString();
+        buttonEntity.sense = senseSpinner.getSelectedItem().toString();
+    }
+
+    @Override
+    public List<String> getTopicTypes() {
+        return Collections.singletonList(Bool._TYPE);
+    }
+}
diff --git a/app/src/main/java/com/schneewittchen/rosandroid/widgets/directional/DirectionalEntity.java b/app/src/main/java/com/schneewittchen/rosandroid/widgets/directional/DirectionalEntity.java
new file mode 100644
index 00000000..ec0bdeb0
--- /dev/null
+++ b/app/src/main/java/com/schneewittchen/rosandroid/widgets/directional/DirectionalEntity.java
@@ -0,0 +1,41 @@
+package com.schneewittchen.rosandroid.widgets.directional;
+
+import com.schneewittchen.rosandroid.model.entities.widgets.PublisherWidgetEntity;
+import com.schneewittchen.rosandroid.model.repositories.rosRepo.message.Topic;
+
+import geometry_msgs.Twist;
+
+
+/**
+ * TODO: Description
+ *
+ * @author Nico Studt
+ * @version 1.1.1
+ * @created on 31.01.20
+ * @updated on 10.05.20
+ * @modified by Nico Studt
+ */
+public class DirectionalEntity extends PublisherWidgetEntity {
+
+    public String text;
+    public int rotation;
+    public String axis;
+    public String direction;
+    public String sense;
+    public double speed;
+
+    public DirectionalEntity() {
+        this.width = 2;
+        this.height = 2;
+        this.topic = new Topic("cmd_vel", Twist._TYPE);
+        this.publishRate = 20f;
+        this.text = "Move on";
+        this.rotation = 0;
+        this.immediatePublish = true;
+        this.axis = "X";
+        this.direction = "Linear";
+        this.sense = "Positive";
+        this.speed = 0.3;
+    }
+
+}
diff --git a/app/src/main/java/com/schneewittchen/rosandroid/widgets/directional/DirectionalView.java b/app/src/main/java/com/schneewittchen/rosandroid/widgets/directional/DirectionalView.java
new file mode 100644
index 00000000..f13bca56
--- /dev/null
+++ b/app/src/main/java/com/schneewittchen/rosandroid/widgets/directional/DirectionalView.java
@@ -0,0 +1,140 @@
+package com.schneewittchen.rosandroid.widgets.directional;
+
+import android.content.Context;
+import android.graphics.Canvas;
+import android.graphics.Paint;
+import android.util.AttributeSet;
+import android.util.Log;
+import android.view.MotionEvent;
+
+import androidx.annotation.Nullable;
+
+import com.schneewittchen.rosandroid.R;
+import com.schneewittchen.rosandroid.model.entities.widgets.BaseEntity;
+import com.schneewittchen.rosandroid.ui.views.widgets.PublisherWidgetView;
+import com.schneewittchen.rosandroid.widgets.button.ButtonData;
+
+import android.text.StaticLayout;
+import android.text.TextPaint;
+import android.graphics.Color;
+import android.graphics.Rect;
+import android.text.Layout;
+
+/**
+ * TODO: Description
+ *
+ * @author Nico Studt
+ * @version 1.1.0
+ * @created on 18.10.19
+ */
+public class DirectionalView extends PublisherWidgetView {
+
+    public class MoveThread extends Thread {
+
+        @Override
+        public void run() {
+            while (!Thread.currentThread().isInterrupted()) {
+                try {
+                    Thread.sleep(1);
+                    publishViewData(new DirectionalData());
+                } catch (InterruptedException ex) {
+                    Thread.currentThread().interrupt();
+                    ex.printStackTrace();
+                }
+            }
+        }
+    }
+
+    public static final String TAG = DirectionalView.class.getSimpleName();
+
+    Paint buttonPaint;
+    TextPaint textPaint;
+    StaticLayout staticLayout;
+    MoveThread t;
+
+    public DirectionalView(Context context) {
+        super(context);
+        init();
+    }
+
+    public DirectionalView(Context context, @Nullable AttributeSet attrs) {
+        super(context, attrs);
+        init();
+    }
+
+
+    private void init(){
+        buttonPaint = new Paint();
+        buttonPaint.setColor(getResources().getColor(R.color.colorPrimary));
+        buttonPaint.setStyle(Paint.Style.FILL_AND_STROKE);
+
+        textPaint = new TextPaint();
+        textPaint.setColor(Color.BLACK);
+        textPaint.setStyle(Paint.Style.FILL_AND_STROKE);
+        textPaint.setTextSize(26 * getResources().getDisplayMetrics().density);
+        t = new MoveThread();
+    }
+
+    private void changeState(boolean pressed) {
+        invalidate();
+    }
+
+
+    @Override
+    public boolean onTouchEvent(MotionEvent event) {
+        if (this.editMode) {
+            return super.onTouchEvent(event);
+        }
+        switch (event.getActionMasked()) {
+            case MotionEvent.ACTION_OUTSIDE:
+            case MotionEvent.ACTION_CANCEL:
+            case MotionEvent.ACTION_BUTTON_RELEASE:
+            case MotionEvent.ACTION_UP:
+                buttonPaint.setColor(getResources().getColor(R.color.colorPrimary));
+                changeState(false);
+                t.interrupt();
+                t = new MoveThread();
+                break;
+            case MotionEvent.ACTION_DOWN:
+                buttonPaint.setColor(getResources().getColor(R.color.color_attention));
+                changeState(true);
+                t.start();
+                break;
+            default:
+                return false;
+        }
+
+        return true;
+    }
+
+
+    @Override
+    public void onDraw(Canvas canvas) {
+        super.onDraw(canvas);
+
+        float width = getWidth();
+        float height = getHeight();
+        float textLayoutWidth = width;
+
+        DirectionalEntity entity = (DirectionalEntity) widgetEntity;
+
+        if (entity.rotation == 90 || entity.rotation == 270) {
+            textLayoutWidth = height;
+        }
+
+        canvas.drawRect(new Rect(0, 0, (int) width, (int) height), buttonPaint);
+
+        staticLayout = new StaticLayout(entity.text,
+                textPaint,
+                (int) textLayoutWidth,
+                Layout.Alignment.ALIGN_CENTER,
+                1.0f,
+                0,
+                false);
+        canvas.save();
+        canvas.rotate(entity.rotation, width / 2, height / 2);
+        canvas.translate(((width / 2) - staticLayout.getWidth() / 2), height / 2 - staticLayout.getHeight() / 2);
+        staticLayout.draw(canvas);
+        canvas.restore();
+    }
+}
diff --git a/app/src/main/res/layout/widget_detail_directional.xml b/app/src/main/res/layout/widget_detail_directional.xml
new file mode 100644
index 00000000..c7b93056
--- /dev/null
+++ b/app/src/main/res/layout/widget_detail_directional.xml
@@ -0,0 +1,172 @@
+<?xml version="1.0" encoding="utf-8"?>
+<androidx.constraintlayout.widget.ConstraintLayout xmlns:tools="http://schemas.android.com/tools"
+    android:layout_width="match_parent"
+    android:layout_height="wrap_content"
+    xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:app="http://schemas.android.com/apk/res-auto">
+
+    <include
+        android:id="@+id/includeLayout"
+        layout="@layout/detail_publisher_widget"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        app:layout_constraintEnd_toEndOf="parent"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintTop_toTopOf="parent" />
+
+    <TextView
+        android:id="@+id/textView"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginTop="8dp"
+        android:text="Parameters"
+        android:textAppearance="@style/TextAppearance.AppCompat.Small"
+        android:textColor="@color/colorAccent"
+        android:textStyle="bold"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintTop_toBottomOf="@id/includeLayout" />
+
+    <com.google.android.material.textfield.TextInputLayout
+        android:id="@+id/input_layout3"
+        style="@style/Widget.MaterialComponents.TextInputLayout.OutlinedBox.Dense"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:layout_marginTop="8dp"
+        android:hint="Button text"
+        app:boxBackgroundMode="outline"
+        app:endIconCheckable="false"
+        app:endIconMode="none"
+        app:layout_constraintTop_toBottomOf="@id/textView"
+        app:layout_constraintEnd_toEndOf="parent"
+        app:layout_constraintStart_toStartOf="parent">
+
+        <com.google.android.material.textfield.TextInputEditText
+            android:id="@+id/btnTextTypeText"
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content"
+            android:imeOptions="actionDone"
+            android:inputType="text"
+            android:singleLine="true"
+            android:text="A button" />
+
+    </com.google.android.material.textfield.TextInputLayout>
+
+    <TextView
+        android:id="@+id/textView11"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginStart="16dp"
+        android:layout_marginTop="16dp"
+        android:text="Rotation"
+        android:textAppearance="@style/TextAppearance.AppCompat.Body2"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintTop_toBottomOf="@id/input_layout3" />
+
+    <Spinner
+        android:id="@+id/btnTextRotation"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginEnd="44dp"
+        android:entries="@array/button_rotation"
+        android:foregroundTintMode="add"
+        app:layout_constraintBottom_toBottomOf="@+id/textView11"
+        app:layout_constraintEnd_toEndOf="parent"
+        app:layout_constraintTop_toTopOf="@+id/textView11"
+        app:layout_constraintVertical_bias="1.0" />
+
+    <TextView
+        android:id="@+id/textView22"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginStart="16dp"
+        android:layout_marginTop="84dp"
+        android:text="Axis"
+        android:textAppearance="@style/TextAppearance.AppCompat.Body2"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintTop_toBottomOf="@id/input_layout3" />
+
+    <Spinner
+        android:id="@+id/btnTextAxis"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginEnd="64dp"
+        android:entries="@array/directional_twist_axis"
+        android:foregroundTintMode="add"
+        app:layout_constraintBottom_toBottomOf="@+id/textView22"
+        app:layout_constraintEnd_toEndOf="parent"
+        app:layout_constraintTop_toTopOf="@+id/textView22"
+        app:layout_constraintVertical_bias="1.0" />
+
+    <TextView
+        android:id="@+id/textView33"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginStart="16dp"
+        android:layout_marginTop="52dp"
+        android:text="Direction"
+        android:textAppearance="@style/TextAppearance.AppCompat.Body2"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintTop_toBottomOf="@id/input_layout3" />
+
+    <Spinner
+        android:id="@+id/btnTextDirection"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginEnd="20dp"
+        android:entries="@array/directional_twist_dir"
+        android:foregroundTintMode="add"
+        app:layout_constraintBottom_toBottomOf="@+id/textView33"
+        app:layout_constraintEnd_toEndOf="parent"
+        app:layout_constraintTop_toTopOf="@+id/textView33"
+        app:layout_constraintVertical_bias="1.0" />
+
+    <TextView
+        android:id="@+id/textView44"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginStart="16dp"
+        android:layout_marginTop="120dp"
+        android:text="Sense"
+        android:textAppearance="@style/TextAppearance.AppCompat.Body2"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintTop_toBottomOf="@id/input_layout3" />
+
+    <Spinner
+        android:id="@+id/btnTextSense"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginEnd="8dp"
+        android:entries="@array/directional_twist_sense"
+        android:foregroundTintMode="add"
+        app:layout_constraintBottom_toBottomOf="@+id/textView44"
+        app:layout_constraintEnd_toEndOf="parent"
+        app:layout_constraintTop_toTopOf="@+id/textView44"
+        app:layout_constraintVertical_bias="1.0" />
+
+    <TextView
+        android:id="@+id/textView55"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginStart="16dp"
+        android:layout_marginTop="156dp"
+        android:text="Speed"
+        android:textAppearance="@style/TextAppearance.AppCompat.Body2"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintTop_toBottomOf="@id/input_layout3" />
+
+    <com.google.android.material.textfield.TextInputEditText
+        android:id="@+id/speedTextTypeText"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginEnd="104dp"
+        android:imeOptions="actionDone"
+        android:inputType="numberDecimal"
+        android:singleLine="true"
+        android:text="0.3"
+        app:layout_constraintBottom_toBottomOf="@+id/textView55"
+        app:layout_constraintEnd_toEndOf="parent"
+        app:layout_constraintTop_toTopOf="@+id/textView55"
+        app:layout_constraintVertical_bias="0.461" />
+
+
+</androidx.constraintlayout.widget.ConstraintLayout>
diff --git a/app/src/main/res/values/widgets.xml b/app/src/main/res/values/widgets.xml
index 93278309..1ce7921e 100644
--- a/app/src/main/res/values/widgets.xml
+++ b/app/src/main/res/values/widgets.xml
@@ -8,7 +8,7 @@
         <item>Debug</item>
         <item>Gps</item>
         <item>Joystick</item>
-        <item>Label</item>
+        <item>Directional</item>
         <item>Logger</item>
         <item>RqtPlot</item>
         <item>Viz2D</item>
@@ -99,7 +99,6 @@
         You can zoom in and out by pinching 2 or more fingers together or apart.
     </string>
 
-
     <!-- Joystick -->
     <string name="Joystick_description">
         The Joystick node is designed for teleoperational control of robotic systems.
@@ -124,6 +123,31 @@
     </string-array>
 
 
+    <!-- Directional Key -->
+    <string name="Directional_description">
+        The Directional node is designed for teleoperational control of robotic systems. You can create
+        a button which allows the robot to move or turn.
+        It will communicate to the topic specified in the details. The inherited message is thereby
+        the geometry_msgs/Twist. In the details section of the directional, you can specify the axis
+        of the speed and the kind of speed (linear / angular).
+    </string>
+
+    <string-array name="directional_twist_dir">
+        <item>Linear</item>
+        <item>Angular</item>
+    </string-array>
+
+    <string-array name="directional_twist_axis">
+        <item>X</item>
+        <item>Y</item>
+        <item>Z</item>
+    </string-array>
+
+    <string-array name="directional_twist_sense">
+        <item>Positive</item>
+        <item>Negative</item>
+    </string-array>
+
     <!-- Label -->
     <string name="Label_description">
         A Label which does not interact with ROS but helps to organize your screen.