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Remapping rqt published topics

asked 2013-12-11 05:16:56 -0500

Kevin DeMarco gravatar image

updated 2013-12-15 19:55:27 -0500

tfoote gravatar image

I am developing an rqt GUI plugin to set some values in another node, but the rqt plugins seem to always place a namespace in front of my desired published topic name.

For example, my rqt plugin is called "rqt_blueview," and I declare a published topic in the rqt plugin like this...

this->max_range_pub_ = getNodeHandle().advertise<std_msgs::Float32>("sonar_max_range", 1);

However, the actual topic is published with the following topic name:

/rqt_blueview/sonar_max_range

I want to publish to /sonar_max_range

I tried to remap the topic, but I can't seem to get it to work. I tried the following in a launch file:

<remap from="/rqt_blueview/sonar_max_range" to="sonar_max_range" />
<node pkg="rqt_blueview" name="rqt_blueview" type="rqt_blueview" />

and

<remap from="rqt_blueview/sonar_max_range" to="sonar_max_range" />
<node pkg="rqt_blueview" name="rqt_blueview" type="rqt_blueview" />

I tried placing the remap tag inside the <node></node> tags as well, but with no results. I think this has something to do with how the rqt plugin is loaded into the rqt higher-level Qt window.

I was able to remap the subscribed topic /sonar_max_range to /rqt_blueview/sonar_max_range on the normal C++ ROS node subscribed side of the topic, but this naming convention doesn't seem natural to me.

Is there a best practice for naming topics when using rqt plugins? I won't want a launch file remapping the rqt GUI plugins since the idea is to open rqt and then "add" the other rqt plugins to the main window.

Thanks.

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A rqt C++ plugin is not a ROS node but a ROS nodelet. Simply because roscpp does not support to run more then a single node per process. A nodelet always runs in a namespace ( http://wiki.ros.org/nodelet ) but should still be remappable.

Dirk Thomas gravatar image Dirk Thomas  ( 2015-04-29 19:35:03 -0500 )edit

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answered 2014-04-21 15:27:59 -0500

Yusuke Furuta gravatar image

I also tried to remap a topic of C++ rqt plugins but it didn't work.

When I tried with python rqt pluguins, it worked.
So I think this is a bug of C++ rqt plugin.

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answered 2015-01-01 16:41:18 -0500

Andy_H gravatar image

Same here: Using Python, my plugin can call services in the correct namespace, if rqt is launched within the namespace. Doing the same in C++, the services can only be used, if I call them with a global name )):

Any news? Where to post a bugreport for that?

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My bet is to start a discussion at https://github.com/ros-visualization/...

130s gravatar image 130s  ( 2015-01-01 19:00:07 -0500 )edit

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Asked: 2013-12-11 05:16:56 -0500

Seen: 830 times

Last updated: Apr 21 '14