When should I remap topic and parameter names?
- When launching nodes?
- Parameters in namespaces?
Please help in writing up a ROS best practice.
asked 2011-11-07 11:44:36 -0500
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Please help in writing up a ROS best practice.
answered 2012-07-07 04:18:26 -0500
This post is a wiki. Anyone with karma >75 is welcome to improve it.
You should remap arguments when:
Another point of view is the component writer point of view, he should not try to build himself complex topic names inside the node he develops so that it matches the topic names of some other nodes. Very simple names (which are likely to create a name clash) are better as they will be renamed anyway... This is something I understood long after beginning using ROS :) It makes the whole ROS interface of a node much easier to understand.
There is however some limitations to this approach. For instance tf supports only tf_prefix as a way to avoid name clashes. This is why, on the opposite, you see a large portion of tf enabled nodes having a parameter to set the tf frame name "manually".
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Asked: 2011-11-07 11:44:36 -0500
Seen: 2,242 times
Last updated: Jul 07 '12
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@Thomas answered the topic remapping question. I suggest creating a separate question for parameters.