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All of the documentation you're referencing is for a nodelet. Namely, the yocs_cmd_vel_mux nodelet. This PARTICULAR nodelet is the thing that actually implements the topic multiplexing you're looking for.

For the implementation, I recommend 3 launch files:

  1. Your base controller and the multiplexer nodelet, including:
    • the node for the base controller
    • a nodelet manager
    • the wrapper to load the yocs_cmd_vel_mux into the nodelet manager
    • the configuration for the yocs_cmd_vel_mux ( mux.yaml )
  2. Your navigation launch file
  3. You teleop launch file

With this set of launch files, your multiplexer will always be available to pass velocity commands from navigation and teleop if they are running.