Use twist_mux. Define camera frame_name in yaml

config/ana_realsense_config.yaml

@@ -8,6 +8,7 @@ clip_far: 100.0
 noise_type: 'gaussian'
 noise_mean: 0.0
 noise_stddev: 0.007
+frame_name: '/ana/nav_cam_color_optical_frame'
 image_topic_name: '/ana/sensors/nav_cam/color/image_raw'
 camera_info_topic_name: '/ana/sensors/nav_cam/color/camera_info'
 depth_image_topic_name: '/ana/sensors/nav_cam/depth/image_rect_raw'

launch/sim_sample.launch

 <?xml version="1.0" encoding="UTF-8"?>
 <launch>
-  
+
   <arg name="ns"    default="ana"/>
   <arg name="world_name" default="empty"/>
   <arg name="world_description" default="true"/>
   <arg name="sim_config" default="$(find iri_ana_gazebo)/config/ana_sim_config_no_tf.yaml"/>
-  <arg name="cmd_vel_mux_config" default="$(find iri_ana_launch)/config/$(arg ns)_mux.yaml"/>
+  <arg name="twist_mux_locks_config"  default="$(find iri_ana_launch)/config/$(arg ns)_mux_locks.yaml"/>
+  <arg name="twist_mux_topics_config" default="$(find iri_ana_launch)/config/$(arg ns)_mux_topics.yaml"/>
   <arg name="local_ekf_config_file"   default="$(find iri_ana_launch)/config/$(arg ns)_local_ekf.yaml"/>
   <arg name="rviz"  default="false"/>
   <arg name="gui"   default="true"/>
@@ -17,9 +18,9 @@
 
   <include file="$(find iri_gazebo_worlds)/launch/test.launch">
     <arg name="gui"         value="$(arg gui)"/>
-    <arg name="world_name"  value="$(arg world_name)"/> 
-    <arg name="description" value="$(arg world_description)"/> 
-    <arg name="rviz"        value="false"/> 
+    <arg name="world_name"  value="$(arg world_name)"/>
+    <arg name="description" value="$(arg world_description)"/>
+    <arg name="rviz"        value="false"/>
   </include>
 
   <include file="$(find iri_ana_gazebo)/launch/spawn.launch">
@@ -35,19 +36,21 @@
     <arg name="pan_tilt_position_controller_ns"    value="$(arg pan_tilt_position_controller_ns)"/>-->
   </include>
 
-  <include file="$(find iri_rosnav)/launch/include/cmd_vel_mux.launch">
+  <include file="$(find iri_rosnav)/launch/include/twist_mux.launch">
     <arg name="ns"                    value="$(arg ns)"/>
-    <arg name="nodelet_manager_name"  value="mux_nodelet_manager"/>
-    <arg name="config"                value="$(arg cmd_vel_mux_config)"/>
+    <arg name="config_locks"          value="$(arg twist_mux_locks_config)"/>
+    <arg name="config_topics"         value="$(arg twist_mux_topics_config)"/>
     <arg name="output"                value="log" />
     <arg name="launch_prefix"         value="" />
   </include>
 
+  <!--
   <node name="cmd_vel_relay"
         pkg="topic_tools"
         type="relay"
         args="/ana/ana_odom/cmd_vel_in /ana/cmd_vel">
   </node>
+  -->
 
   <include file="$(find iri_ana_launch)/launch/local_ekf.launch">
     <arg name="name"                   value="$(arg ns)"/>