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Why do all nodes have to be linked to /rosout?

asked 2011-10-10 20:46:53 -0500

jlo gravatar image

Hi there, I was redoing this tutorial where you get to run two turtlesims and one of them mimics the other. Well, exploring the rxgraph we get this:

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That's when I asked myself: why do all nodes have to be linked to /rosout? It doesn't make sense to me that /mimic is connected to it. What is the purpose for that?

Thanks!

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answered 2011-10-11 00:37:07 -0500

dornhege gravatar image

rosout collects all data from the ROS_INFO...-style macros to display not only in the terminal but also in rxconsole. Nodes connect to it by default to be able to publish there.

If you are only concerned about the chaotic rxgraph output the "quiet" option will remove those.

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answered 2011-10-11 03:34:48 -0500

Every node produces messages, possibly with loginfo, logerr etc etc.. Even if you don't see them, there is a lot of debug messages going on in your node. rosout collects all these messages. The advantages are in terms of logging, and in terms of displaying all the messages in a single place.

Probably the main reason for a centralized messages collector is to allow wonderful tools like rxconsole to exist :-)

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Asked: 2011-10-10 20:46:53 -0500

Seen: 342 times

Last updated: Oct 11 '11