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For safety, most robots use the first option (a), with a timeout.

If the ROS node that receives /cmd_vel doesn't receive a message within a certain time period, it brings the robot to a stop. I'd recommend a 1 to 2 second timeout for most indoor robots

The timeout ensures that if the connection to teleop is lost, or an autonomous navigation node stops sending commands, the robot comes to a stop instead of driving into a wall or other obstacle.