How do you modify the velocity multiplexer for turtlebot?
I have a Kobuki Turtlebot and would like to publish to the multiplexer on my own topic. The official documentation hasn't done me well explaining how to modify the parameters.
Where can I find the config and YAML files discussed in the documentation and how can I edit them? I am currently writing a rospy script for this, below is a simple implementation of what I'm trying to do.
#!/usr/bin/env python
import rospy
from geometry_msgs.msg import Twist
if __name__ == '__main__':
rospy.init_node('CmdVelMux_test', anonymous=True);
velPub = rospy.Publisher('/cmd_vel_mux/input/BSC', Twist, queue_size=10);
Vx = Twist();
Vx.linear.x = 0.1;
while not rospy.is_shutdown():
velPub.publish(Vx);
rospy.spin;