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Option 1:
See this link for how to multiplex the cmd_vel topic instead of having two nodes sending conflicting commands to the robot.

If you see an obstacle, have your node take over control of the multiplexer and stop the robot. Of course then you need to figure out how to give control back to telop.

Option 2:
Remap the output of telop to go through your node so only your node publishes on the cmd_vel topic. If you see an obstacle, modify the telop output running through your node to stop the robot.