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Hi,
I found that when a topic is locked, the mux just stops publishing. This means that our robot depends on another timeout to stop (the smoother in our case).
So I made a small modification to publish zero twists when the topic that has priority is locked.
To do so, I moved the lock check in the topic callback. If the topic is locked, I replace the message with
geometry_msgs::msg::Twist()
. If this topic has priority, the zero twist value will be published.Hence the robot starts to brake immediately.