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Removing part of a published topics path

asked 2018-09-19 21:45:09 -0600

TheMilkman
17 ●6 ●7 ●12

updated 2018-09-19 22:46:30 -0600

Say if im publishing diagnostic messages from a node using this;

nh.advertise<diagnostic_msgs::DiagnosticArray>("diagnostics", 10);

In the case its from our IMU node, making the topic its publishing called /imu/diagnostics. Is there a way to remove the /imu prefix so that the aggregator doesn't get confused? Or should I be running diagnostics from a separate node or something?

Thanks for any help.

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answered 2018-09-19 22:44:23 -0600

TheMilkman
17 ●6 ●7 ●12

I found my own solution.

When defining a publisher, if you're trying to publish to the top level you must add a '/' to the front of the path. For example;

nh.advertise<diagnostic_msgs::DiagnosticArray>("/diagnostics", 10);

publishes to the topic;

/diagnostics

While

nh.advertise<diagnostic_msgs::DiagnosticArray>("diagnostics", 10);

publishes to the

node_name/diagnostics

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You're right, the wiki Names explains it with more details if you want.

Delb ( 2018-09-20 01:39:30 -0600 )edit

I guess I wasn't googling the right words, thanks for the link!

TheMilkman ( 2018-10-04 23:55:00 -0600 )edit

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Asked: 2018-09-19 21:45:09 -0600

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Last updated: Sep 19 '18

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Removing part of a published topics path