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

Original page: https://github.com/strands-project/scitos_apps/wiki/Scitos-cmd_vel_mux