publishers priority
Hi everyone! Is there the possibility to give different priorities to publishers which publish on the same topic? For example I want to teleoperate my robot, so there is a node for teleoperation that send messages on the /cmd_vel topic on the basis of what I click on the keyboard, but I also want to have a node that checks if there are obstacles on my way and in that case stops my robot, so it should publish with a higher priority on /cmd_vel a message that sets the velocities to 0. Is something like this possible? Thanks
You can add the module before you are going to publish the cmd_vel. Maybe you can have a obstacle avoidance module which subscribe to tele_op and publish cmd_vel.
This is surely working, but I'm interested in the question in general not only on this particulare case, that is to say that I'd like to know if there is a way to set publishers priority