Switching between autonomous control and keyboard control in ROS

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Thanks for your reply. I have one doubt. Are you sure that even if in maze; ROS can produce an effective autonomous plan to achieve a certain goal? Will there be any chance that the Robot halts at various junction like L, T or +?

Till now I have not achieved autonomous navigation, so I am aware of only cmd_vel topic by teleop. After achieving High level navigation, will there be any auto_cmd_vel (auto tends for autonomous) by move_base node? Again cmd_vel_mux is bang on target and if I can use it then it will be very useful for me, but as I am using USARSimROS (for P3AT robot) and my knowledge regarding kobuki_node is very less. I if cmd_vel of teleop and cmd_vel of move_base must publish messages to mux node; I think. Do, I need to write custom code to link move_base node to mux node?

This works out of the box. It's intended for the turltebots/kobuki, but independent. The only thing it does is automatically switch between the cmd_vel topics. Usually you'd just remap them accordingly, e.g. move_base's will go to /cmd_vel_mux/autonomy_cmd_vel or something like that.

Something like autonomous plans to achieve goals in a maze is out of the scope for this question and a very different problem. Open a new question if you want to inquire about some capabilities of the navigation stack.

ok.. Thanks sir @dornhege

One more question @dornhege; can I assign two different priorities(at time instant t1, priority p1 and in another time instant t2, priority p2) to the same cmd_vel topic?

I don't know. Maybe just try it?

@dornhege cmd_vel_mux (http://wiki.ros.org/cmd_vel_mux) is written for Groovy/hydro. I am using Fuerte. So can I use this package directly by simply modifying subscriber and publisher? Is there any problem with communication between nodelet and normal nodes? I have seen in here http://www.isep.ipp.pt/roswiki/kobuki(2f)Tutorials(2f)Kobuki(27)s(20)Control(20)System.html Where mobile_base has to be a nodelet as well. PLEASE REPLY