Added almost working nav2 setup

src/dcaiti_control/config/dcaiti_config.yml

@@ -20,7 +20,6 @@ diff_cont:
     wheel_separation: 0.215
     wheel_radius: 0.049338032
 
-
     use_stamped_vel: false
 
 joint_limits:

src/dcaiti_control/config/twist_mux.yml

@@ -0,0 +1,12 @@
+twist_mux:
+  ros__parameters:
+    topics:
+      navigation:
+        topic   : cmd_vel_nav
+        timeout : 0.5
+        priority: 10
+
+      keyboard:
+        topic   : cmd_vel_keyboard
+        timeout : 0.5
+        priority: 100

src/dcaiti_control/launch/rsp.launch.py

@@ -4,6 +4,8 @@ from ament_index_python.packages import get_package_share_directory
 
 from launch import LaunchDescription
 from launch.substitutions import LaunchConfiguration
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.actions import IncludeLaunchDescription
 from launch.actions import DeclareLaunchArgument
 from launch_ros.actions import Node
 from launch.substitutions import Command
@@ -22,6 +24,12 @@ def generate_launch_description():
     xacro_file = os.path.join(pkg_path,'description','robot.urdf.xacro')
     robot_description_config = Command(['xacro ', xacro_file, ' use_ros2_control:=', use_ros2_control, ' use_sim:=', use_sim_time])
     
+    twist_mux_params = os.path.join(
+        get_package_share_directory('dcaiti_control'), # <-- Replace with your package name
+        'config',
+        'twist_mux.yml'
+        )
+
     # Create a robot_state_publisher node
     params = {'robot_description': robot_description_config, 'use_sim_time': use_sim_time}
     node_robot_state_publisher = Node(
@@ -36,6 +44,14 @@ def generate_launch_description():
         parameters=[{'use_sim_time': use_sim_time}]
     )
 
+    twist_mux = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([os.path.join(
+            get_package_share_directory('twist_mux'),'launch','twist_mux_launch.py'
+        )]), 
+        launch_arguments={
+            'cmd_vel_out': '/diff_cont/cmd_vel_unstamped', 
+            'config_topics': twist_mux_params}.items()
+    )
 
 
     # Launch!
@@ -50,5 +66,6 @@ def generate_launch_description():
             description='Use ros2_control if true'),
 
         node_robot_state_publisher,
-        node_joint_state_publisher
+        node_joint_state_publisher,
+        twist_mux,
     ])