Implemented a flag functionality that allows to more easily identify the type of velocity/lock that is being picked and sent by the multiplexer. This is particularly useful, when you want to identify a particular robot state, through its velocity commands' source (for instance, autonomous vs. manual operation). Or even, just the command velocity (the one picked by the multiplexer) itself.
How this feature works:
1 - You flag your input topics following some case-specific criteria.
2 - Listen to the new UInt8 flag topic (/flag by default).
2 - Now you know which (type of) topic was picked.
3 - Decide (1) what to do with that information...
Implemented a flag functionality that allows to more easily identify the type of velocity/lock that is being picked and sent by the multiplexer. This is particularly useful, when you want to identify a particular robot state, through its velocity commands' source (for instance, autonomous vs. manual operation). Or even, just the command velocity (the one picked by the multiplexer) itself.
How this feature works: 1 - You flag your input topics following some case-specific criteria. 2 - Listen to the new UInt8 flag topic (/flag by default). 2 - Now you know which (type of) topic was picked. 3 - Decide (1) what to do with that information...
(1) Decision making