config/cmd_vel_mux.yaml

   1 subscribers:
   2   - name:        "Default input"
   3     topic:       "/cmd_vel"
   4     timeout:     0.1
   5     priority:    0
   6     short_desc:  "The default cmd_vel, controllers unaware that we are multiplexing cmd_vel should come here"
   7   - name:        "Navigation stack"
   8     topic:       "/move_base/cmd_vel"
   9     timeout:     0.5
  10     priority:    1
  11     short_desc:  "Navigation stack controller"
  12   - name:        "Default Teleop"
  13     topic:       "/teleop/cmd_vel"
  14     timeout:     0.1
  15     priority:    9
  16   - name:        "Wii Teleop"
  17     topic:       "/turtlebot_teleop_joystick/cmd_vel"
  18     timeout:     0.1
  19     priority:    10
  20 publisher:       "/cmd_vel_out"