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Since you have the follow_name argument in the launch file already, I would just remap the topic there:

<node pkg="uuv_control_utils" type="send_follow_waypoints.py" name="$(anon name)">
  <param name="uuv_name" value="$(arg uuv_name)" />
  <param name="follow_name" value="$(arg follow_name)" />  # Still needed?
  <param name="max_forward_speed" value="$(arg max_forward_speed)" />
  <param name="heading_offset" value="$(arg heading_offset)" />
  <param name="use_fixed_heading" value="$(arg use_fixed_heading)" />
  <param name="radius_of_acceptance" value="$(arg radius_of_acceptance)" />
  <param name="start_time" value="$(arg start_time)" />
  <param name="x_shift" value="$(arg x_shift)" />
  <param name="y_shift" value="$(arg y_shift)" />
  <param name="z_shift" value="$(arg z_shift)" />
  <param name="success_rate" value="$(arg success_rate)" />

  <remap from="follow_name/pose_gt" to="/$(arg follow_name)/pose_gt" />  # Leading slash denotes global namespace.
</node>

And in your node:

rospy.Subscriber('follow_name/pose_gt', Odometry, follow_pose_callback)