Revision history [back]

If you dive into the code of the mux node here, you will see that the publisher is only advertised when the first message from any of the subscribed topics is received.

Therefore, if you are not publishing to move_base/cmd_vel, and joy/cmd_vel after launching / starting the mux node, you will not see cmd_vel in the rostopic list output, or in the rosnode info output. You should be able to see cmd_vel topic in the rostopic list output, or in the rosnode info output after you start publishing to move_base/cmd_vel, and joy/cmd_vel topics.

I can see that when you executed the rosnode info, the incoming topics had no publishers (as all subscriptions are of [unknown type].

So run the mux node as usual, play the rosbag (I assume you are playing with rosbags because your use_sim_time param is set to true which is why the mux node is subscribing to /clock topic), wait for messages to be published (mux node should log something like following)

[ INFO] [1630900837.305035517]: advertising

Now you should be able to see cmd_vel in the rostopic list output and in the rosnode info output.

If you dive into the code of the mux node here, you will see that the publisher is only advertised when the first message from any of the subscribed topics is received.

Therefore, if you are not publishing to move_base/cmd_vel, and joy/cmd_vel after launching / starting the mux node, you will not see cmd_vel in the rostopic list output, or in the rosnode info output. You should be able to see cmd_vel topic in the rostopic list output, or in the rosnode info output after you start publishing to move_base/cmd_vel, and joy/cmd_vel topics.

I can see that when you executed the rosnode info, the incoming topics had no publishers (as all subscriptions are of [unknown type].

So run the mux node as usual, play the rosbag (I assume you are playing with rosbags because your use_sim_time param is set to true which is why the mux node is subscribing to /clock topic), topic, in which case do not forget rosbag play --clock <bag_name>), wait for messages to be published (mux node should log something like following)

[ INFO] [1630900837.305035517]: advertising

Now you should be able to see cmd_vel in the rostopic list output and in the rosnode info output.