Changed the launch file to locate the cmd_vel_mux launch file in the iri_rosnav package.

Added the cmd_vel_mux configuration file.

config/mux.yaml

+subscribers:
+  - name:        "Default input"
+    topic:       "/ana/default/cmd_vel"
+    timeout:     0.1
+    priority:    0
+    short_desc:  "The default cmd_vel, controllers unaware that we are multiplexing cmd_vel should come here"
+
+  - name:        "Platform orientation"
+    topic:       "/ana/orientation/cmd_vel"
+    timeout:     0.1
+    priority:    4
+    short_desc:  "Platform orientation to people"
+
+  - name:        "Navigation stack"
+    topic:       "/ana/navigation/cmd_vel"
+    timeout:     0.5
+    priority:    5
+    short_desc:  "Navigation stack controller"
+
+  - name:        "Teleop"
+    topic:       "/ana/teleop/cmd_vel"
+    timeout:     0.1
+    priority:    10
+    short_desc:  "Teleop wii/ps3 pad"
+
+publisher:       "/ana/cmd_vel"

launch/sim_sample.launch

@@ -4,7 +4,7 @@
   <arg name="ns"    default="ana"/>
   <arg name="world_name" default="empty"/>
   <arg name="world_description" default="true"/>
-  <arg name="cmd_vel_mux_config" default="$(find iri_ana_bringup)/config/mux.yaml"/>
+  <arg name="cmd_vel_mux_config" default="$(find iri_ana_gazebo)/config/mux.yaml"/>
   <arg name="rviz"  default="false"/>
   <arg name="gui"   default="true"/>
 
@@ -23,7 +23,7 @@
     <arg name="yaw"   value="0.0"/>
   </include>
 
-  <include file="$(find iri_ana_bringup)/launch/include/cmd_vel_mux.launch">
+  <include file="$(find iri_rosnav)/launch/include/cmd_vel_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)"/>