Hi, I am new to ros, and have only been working on it for 2-3 months. As part of a project, I need to send a cmdvel message to an amr, via a remote machine. I cannot access the internals of the amr. The amr has an /amr/cmdvel topic, which has a subscriber to a low level driver, however publishing to that topic, via rostopic pub or teleoptwistkeyboard does not seem to work. The topic has a publisher, /amr/twistmux, and I am trying to send a velocity message to the topic with the highest priority in the yaml file of the twistmux node. However even that is not working. It seems, that it is being blocked by the locks parameter, of msg type std_msgs/Bool.

Hence, my question, is it possible to change the yaml file of the twist_mux node, by designing a yaml file of my own and using a rosparam commandline to change it? Please note, I have not tried it yet, as my work didnt require driving the amr till now, regardless, any help would be appreciated.

If possible, with the limited information that I posted, are there any suggestions to actually drive around the amr remotely? I have been unable to find any help so far. Thank you very much for your help