Scitos cmd_vel_mux

Installation

• Run catkin_make
• Source the environment
• Run rosdep

rosdep install scitos_cmd_vel_mux

Usage

• Run

roslaunch scitos_cmd_vel_mux mux.launch

• Remap your navigation stack /cmd_vel output to /cmd_vel_mux/input/navigation
• Run

roslaunch scitos_teleop_mux.launch

This runs the scitos_teleop and remaps the joystick output to /cmd_vel_mux/input/joystick. Now the joystick will always have priority as soon as you press the dead-man-switch.

Inputs

Sorted by priority of incoming commands (high to low):

• /cmd_vel_mux/input/joystick: For teleoperation
• /cmd_vel_mux/input/webapp: For teleoperation over the browser
• /cmd_vel_mux/input/navigation: For the navigation stack
• /cmd_vel_mux/input/default: For everything that is not aware of the arbitration

To add input topics or change priorities modify: param/mux.yaml