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You have not configured an output topic. I suspect that will be cmd_vel then.

This is also the navigation input. I believe the cmd_vel_mux is thus working correctly in prioritizing between teleop and navigation. However, as you are publishing cmd_vel on the same topic as the output of the cmd_vel mux, you just override the cmd_vel_mux.

You will need to have three different topics for this setup: 2 Inputs and 1 Output. The output goes to the robot. The inputs come from teleop and navigation.

Teleop and Navigation topics must not have the same name as the output, otherwise they will publish there directly.