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Yes, the ROS publish subscribe system allows you to publish in one language, but subscribe in others. This is useful for having high performance nodes in C++ but high complexity nodes in Python. Since you already have functionality in Java, it's perfect to use Java to parse and then send it to another node in another language for processing.

You should note that there isn't a 'roscore' for each language. A roscore is a program that acts as a control hub to tell subscribers where to ask for data from a topic.

More information on that, see these links. Concepts Master

Yes, the ROS publish subscribe system allows you to publish in one language, but subscribe in others. This is useful for having high performance nodes in C++ but high complexity nodes in Python. Since you already have functionality in Java, it's perfect to use Java to parse and then send it to another node in another language for processing.

You should note that there isn't a requirement to have a 'roscore' for each language. A roscore is a program that acts as a control hub to tell subscribers where to ask for data from a topic.topic. These only interact with other nodes over the network. For example, it is NOT necessary to launch the python roscore for python nodes and launch the Java roscore if you have nodes in Java. You only need to have one roscore running.

More information on that, see these links. Concepts Master