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The manual method might benefit from http://wiki.ros.org/topic_tools/mux, the mux connection would have to exist from the start (and would default to passing through the message unfiltered), but other filter nodes subscribing to the publisher could be launched at a later time and the mux could switch to their modified output. That doesn't scale well to an existing system with lots of nodes though.

Also if the nodes can be arranged to be on different sides of a network link there must be options for putting another computer with two network ports between and it could sniff traffic (and completely parse ros messages?) and make changes (and probably add a bunch of latency). For the DRC they wanted to selectively degrade network traffic between control computers and robots, and I think they got special network hardware to do that but it wasn't that interested in the content of the traffic.