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That diagram you poseted looks like a valid ROS node graph architecture-wise; ROS topic is n-to-n, not 1-to-1. See another thread for example for more concept.

Depending on your application, however, your configration can be problematic since all topics are published under the same name cmd_vel. You could publish the same topic type (called msg in ROS) under different names so that the subscribers can differentiate what they really need.

That diagram you poseted looks like a valid ROS node graph architecture-wise; ROS topic is n-to-n, not 1-to-1. See other threads for example (another thread for example1 , 2) for more concept.

Depending on your application, however, your configration can be problematic since all topics are published under the same name cmd_vel. You could publish the same topic type (called msg in ROS) under different names so that the subscribers can differentiate what they really need.