diff --git a/config/adc_car_mux.yaml b/config/adc_car_mux.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..95d661448ef12372bfae847a7d8d8850f5a8c856
--- /dev/null
+++ b/config/adc_car_mux.yaml
@@ -0,0 +1,20 @@
+subscribers:
+  - name:        "Default input"
+    topic:       "/adc_car/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:        "Navigation stack"
+    topic:       "/adc_car/navigation/cmd_vel"
+    timeout:     0.5
+    priority:    5
+    short_desc:  "Navigation stack controller"
+
+  - name:        "Teleop"
+    topic:       "/adc_car/teleop/cmd_vel"
+    timeout:     0.1
+    priority:    10
+    short_desc:  "Teleoperation"
+
+publisher:       "/adc_car/cmd_vel"
diff --git a/config/teleop_config.yaml b/config/teleop_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..c4e1139feba2ea3fb31830498077470506672843
--- /dev/null
+++ b/config/teleop_config.yaml
@@ -0,0 +1,5 @@
+default_vx_max:  0.8
+default_vx_min: -0.8
+default_vw_max:  0.5
+default_vw_min: -0.5
+