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How to use yocs_cmd_vel_mux

asked 2021-08-10 20:46:44 -0500

tony6 gravatar image

Hello,

I am trying to use the yocs_cmd_vel_mux to multiplex my cmd_vel inputs. I have the teleop_node publishing cmd_vel topic and another node that will be publishing cmd_vel too. When I use rosnode info to look at the nodelet manager running yocs_cmd_vel_mux, it says it subscribes to /yocs_cmd_vel_mux/teleop_node/cmd_vel . How do I make it subscribe to teleop_node/cmd_vel (without the yocs_cmd_vel_mux)?

My current rqt_graph output can be found here https://drive.google.com/file/d/1afC8...

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answered 2021-08-11 00:16:41 -0500

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?...

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Asked: 2021-08-10 20:46:44 -0500

Seen: 75 times

Last updated: Aug 11 '21