Connector nodes can be used to connect multiple ROS message topics. For example two torque control signals can be summed using a joint state adder node. A joint state switch node publishes a topic if it is published, otherwise selects the alternative topic. Limiter stops publishing if the published values are too high.
An example launch file to configure connector nodes is given.
It launches the following nodes, adding msg_a to msg_b and limiting their sum:
