From c746217ac64f25e5d3d75b8d732c2a6dc814c708 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Tue, 9 Feb 2021 19:31:12 +0100
Subject: [PATCH] Added the configuration files for the cmd_vel mux and the
 teleop for the adc_car.

---
 config/adc_car_mux.yaml   | 20 ++++++++++++++++++++
 config/teleop_config.yaml |  5 +++++
 2 files changed, 25 insertions(+)
 create mode 100644 config/adc_car_mux.yaml
 create mode 100644 config/teleop_config.yaml

diff --git a/config/adc_car_mux.yaml b/config/adc_car_mux.yaml
new file mode 100644
index 0000000..95d6614
--- /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 0000000..c4e1139
--- /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
+
-- 
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