Question: How to select lower priority topic

[raunakbh92]

Is there a way to have a lower priority topic be passed through? For eg: I have keyboard_teleop and move_base both publishing vel commands. I have set move_base to be higher priority so that if move_base is publishing velocity commands, any keyboard teleop commands are ignored. However, I want to be able to occasionally pass in keyboard teleop commands as well. How would I set a lock that will mask move_base and only allow keyboard teleop to be passed through?

[devvaibhav455]

In that case, why not set the priority of keyboard higher and move_base lower? Whenever, you will press something on keyboard, that would take priority.