How to use yocs_cmd_vel_mux

edit

If you look at the documentation in the configuration file there is a input subscription option in yaml file. You can change your subscription topic name with what ever you want.

subscribers:
  - name:        "Default input"
    topic:       "input/default"
    timeout:     0.1
    priority:    0
    short_desc:  "The default cmd_vel, controllers unaware that we are multiplexing cmd_vel should come here"
  - name:        "Navigation stack"
    topic:       "input/navigation"
    timeout:     0.5
    priority:    1
    short_desc:  "Navigation stack controller"

    ...

  - name:        "Web application"
    topic:       "input/webapp"
    timeout:     0.3
    priority:    8
  - name:        "Keyboard operation"
    topic:       "input/keyop"
    timeout:     0.1
    priority:    7
publisher:       "output/cmd_vel"

http://wiki.ros.org/yocs_cmd_vel_mux?...