X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=config%2Fcmd_vel_mux.yaml;fp=config%2Fcmd_vel_mux.yaml;h=6ed42cb07c5ccc6283bed847975a47cbb2f1eede;hp=0000000000000000000000000000000000000000;hb=2fa12e4c1e20c530f143c05c55dedf71a28c0a0f;hpb=6ee1741e4ff83522b2cbd9860ad4ff4d00b42216;ds=sidebyside

diff --git a/config/cmd_vel_mux.yaml b/config/cmd_vel_mux.yaml
new file mode 100644
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"