Added cmd_vel_mux related config files and launch lines

config/mux.yaml

+subscribers:
+  - name:        "Default input"
+    topic:       "/helena/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:       "/helena/orientation/cmd_vel"
+    timeout:     0.1
+    priority:    4
+    short_desc:  "Platform orientation to people"
+
+  - name:        "Navigation stack"
+    topic:       "/helena/navigation/cmd_vel"
+    timeout:     0.5
+    priority:    5
+    short_desc:  "Navigation stack controller"
+
+  - name:        "Teleop"
+    topic:       "/helena/teleop/cmd_vel"
+    timeout:     0.1
+    priority:    10
+    short_desc:  "Teleop wii/ps3 pad"
+
+publisher:       "/helena/cmd_vel"

launch/bringup.launch

@@ -16,6 +16,8 @@
   <arg name="imu_calibration_file" default="$(find iri_helena_bringup)/calibration/bno055.cal" />
   <arg name="imu_node_name"        default="bno055_imu"/>
 
+  <arg name="cmd_vel_mux_config"       default="$(find iri_helena_bringup)/config/mux.yaml"/>
+
   <arg name="output" default="screen"/>
   <arg name="launch_prefix" default=""/>
 
@@ -58,4 +60,12 @@
 
   </group>
 
+  <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="$(arg cmd_vel_mux_config)"/>
+    <arg name="output"                value="$(arg output)" />
+    <arg name="launch_prefix"         value="$(arg launch_prefix)" />
+  </include>
+
 </launch>

launch/test.launch

@@ -5,6 +5,7 @@
   <arg name="model"              default="$(arg ns)"/>
   <arg name="output"             default="screen" />
   <arg name="launch_prefix"      default="" />
+  <arg name="rviz"               default="false" />
 
   <include file="$(find iri_helena_bringup)/launch/bringup.launch">
     <arg name="ns"                 value="$(arg ns)"/>
@@ -21,6 +22,7 @@
   <node name="rviz"
         pkg="rviz"
         type="rviz"
+        if="$(arg rviz)"
         args="-d $(find iri_helena_bringup)/rviz/$(arg ns).rviz">
   </node>