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How to get the number of subscribers on a topic?

asked 2014-06-10 14:53:39 -0600

ricardoej gravatar image

updated 2022-09-11 10:30:38 -0600

lucasw gravatar image

Hi everybody!

I want to know the list (or number) of subscribers on a topic programmatically. I know that I can use the rostopic list but I need that information in my node.

Thanks!

Edit: There is a method to find it: uint32_t ros::Publisher::getNumSubscribers() const But I need to know the number of subscribers on a topic from another node and I don't have the Publisher object, just the name of the topic

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answered 2014-06-10 15:30:21 -0600

ipso gravatar image

updated 2022-01-16 18:39:53 -0600

lucasw gravatar image

uint32_t ros::Publisher::getNumSubscribers() const

Returns the number of subscribers that are currently connected to this Publisher.

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Comments

1

Thanks for the reply, but I'll put more information about my problem: when I have the Publisher object I know that I can use this method. But I need to know the number of subscribers in another node. I don't have the Publisher object, just the name of the topic.

ricardoej gravatar image ricardoej  ( 2014-06-11 08:14:39 -0600 )edit

"AttributeError: 'Publisher' object has no attribute 'getNumSubcribers'"

Cerin gravatar image Cerin  ( 2018-04-28 21:00:50 -0600 )edit

@Cerin: this is C++, not Python.

gvdhoorn gravatar image gvdhoorn  ( 2018-04-29 01:02:09 -0600 )edit
1

With rospy, use get_num_connections().

gvdhoorn gravatar image gvdhoorn  ( 2018-04-29 01:03:25 -0600 )edit
2

answered 2014-06-12 20:00:36 -0600

kramer gravatar image

Never used it myself, but perhaps the TopicManager would help?

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answered 2022-02-08 18:22:31 -0600

peci1 gravatar image
#include <ros/topic_manager.h>
ros::TopicManager::instance()->getNumSubscribers("topic")

This returns the number of subscribing nodes, not single Subscriber objects...

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answered 2018-04-28 21:06:13 -0600

Cerin gravatar image

updated 2018-04-28 21:11:11 -0600

I'm not sure why you're implying you can't use rostopic list from your node. Nodes can call command line tools. Unfortunately, there doesn't seem to be a an easier way to find this info through the C++ or Python API. I just scrape the output of rostopic list <topic> --verbose in my custom nodes.

It will output something like:

Published topics:
 * <topic> [std_msgs/String] 1 publisher

Subscribed topics:
 * <topic> [std_msgs/String] 1 subscriber

The number before publisher/subscriber is the number of nodes publishing to or subscribing to that topic respectively. You can easily use regexp or simple string parsing to extract that number.

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Asked: 2014-06-10 14:53:39 -0600

Seen: 8,442 times

Last updated: Feb 08