mbf_costmap_nav publisher and subscriber of footprint topic at the same time
by having a look on topics i found out that mbfcostmapnav is publisher and subscriber at the same time of the local and global costmap/footprint topic:
rostopic info /mbf_costmap_nav/global_costmap/footprint
Type: geometry_msgs/PolygonStamped
Publishers:
* /mbf_costmap_nav (http://127.0.0.1:35613/)
Subscribers:
* /mbf_costmap_nav (http://127.0.0.1:35613/)
--------------
rostopic info /mbf_costmap_nav/local_costmap/footprint
Type: geometry_msgs/PolygonStamped
Publishers:
* /mbf_costmap_nav (http://127.0.0.1:35613/)
Subscribers:
* /rviz (http://127.0.0.1:42127/)
* /mbf_costmap_nav (http://127.0.0.1:35613/)
Is it intended to be so or how can i avoid this?
Asked by Dadi on 2022-07-07 22:39:26 UTC
Answers
It's unclear what you think the problem is. In some cases it may be inefficient, but it's not wrong for a node to be both a publisher and a subscriber. Since you didn't give us any idea what mbf_costmap_nav is, it's difficult to say much else about it.
Asked by Mike Scheutzow on 2022-07-08 19:59:33 UTC
Comments
It belongs to the ROS navigation stack of the move base flex and the 2 topics are the local and global costamp plugins.
Maybe you are right, but the roswtf tool reported me an error on that and I would just like understand why or how something happens and why it could be necessary.
Asked by Dadi on 2022-07-09 11:45:09 UTC
Comments