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Would https://wiki.ros.org/twist_mux be of any help? I'd set that up with 2 inputs: from the exploration commands and one for the teleop/

That still does not directly cover stopping the exploration command generation in Smach, but you could implement that by subscribing to the teleop topic in the RoamMode state and then calling self.preempt() when there is a message received (and it's not already preempting etc)