moved cfg-files to config

[ros_wild_thumper.git] / config / cmd_vel_mux.yaml

diff --git a/config/cmd_vel_mux.yaml b/config/cmd_vel_mux.yaml
new file mode 100644 (file)
index 0000000..6ed42cb
--- /dev/null
+++ b/config/cmd_vel_mux.yaml
@@ -0,0 +1,16 @@
+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"