subscribers: - name: "Default input" topic: "/cmd_vel" timeout: 0.1 priority: 0 short_desc: "The default cmd_vel, controllers unaware that we are multiplexing cmd_vel should come here" - name: "Navigation stack" topic: "/move_base/cmd_vel" timeout: 0.5 priority: 1 short_desc: "Navigation stack controller" - name: "Wii Teleop" topic: "/turtlebot_teleop_joystick/cmd_vel" timeout: 0.1 priority: 10 publisher: "/cmd_vel_out"