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Hi @meirela ! The field topic should be filled with the full name of the input topic with also the namespace (i.e.: "/ns1/cmd_vel"). Timeout means for how much time the mux will latch the last command received if no incoming topics with different priorities are received. It should be in seconds. Priority: this is easy; the higher the number filling the field, the higher the priority. I tried the node with five incoming topics, but I think you can set an arbitrary number of them. Name: this field indicates whose incoming topic is being published by the multiplexer. This can be checked by subscribing to the output topic "/name/active".

Remember that the namespace of the output topic is the same of the node's name.