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1 | initial version |
Like I said in my comment, I ended up creating a node that is basically a combination of a mux and state machine...It subscribes to different cmd_vel topics and a button input topic. Based on the button pressed it will switch state and republish the appropriate message to my diff drive controller cmd_vel topic.
Don't know if this is the best approach and maybe could look at the ROS SMACH package but this worked for now!