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Make sure to have your publishers and subscribers set up with the correct "namespace". For this, set the NodeHandle correctly. You are using a so-called "private" nodehandle. See the wiki for details.

Using NodeHandles correctly will not bring any problems, you just have to understand what they are and what they are used for. Good practice is to have all pubs/subs in the node namespace (i.e. ros::NodeHandle()) and all parameters in the private namespace (i.e. ros::NodeHandle("~")).

I'm not quite sure what you mean with "explain the remap tool". In the end, this just takes a topic name that is specified in code (the "from" part) and changes it to another (the "to" part). So you don't have to change the code if you have, e.g. multiple drivers of the same type and want to now if that particular message is from driver A or driver B...

Make sure to have your publishers and subscribers set up with the correct "namespace". For this, set the NodeHandle correctly. You are using a so-called "private" nodehandle. See the wiki for details.

Using NodeHandles correctly will not bring any problems, you just have to understand what they are and what they are used for. Good practice is to have all pubs/subs in the node namespace (i.e. ros::NodeHandle()) and all parameters in the private namespace (i.e. ros::NodeHandle("~")).

I'm not quite sure what you mean with "explain the remap tool". In the end, this just takes a topic name that is specified in code (the "from" part) and changes it to another (the "to" part). (The "from" needs to be exactly how the topic is named in your node.) So you don't have to change the code if you have, e.g. multiple drivers of the same type and want to now if that particular message is from driver A or driver B...