Problem with subscriber within costmap layer

asked 2014-06-19 16:55:09 -0600

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Hi all,

A question for those familiar with the Creating a New Layer (in costmap_2d/Tutorials) tutorial

I got stuck with this problem: I want to define a custom layer to extend a costmap_2d::Layer which contains a subscriber to retrieve some infomation from an external publisher node.

Following the tutorial I created the SimpleLayer class (see paragraph 2). Then I added to the class SimpleLayer the private member ros::Subscriber sub_ and a callback function (as a private method). To initialize the subscriber I added the following line to SimpleLayer::OnInitialize() right before the assignment of the dynamic_reconfigure server:

sub_ = nh.subscribe("the_published_topic", 1000, &SimpleLayer::MyCallbackFunction, this);

where SimpleLayer::MyCallbackFunction should print on screen the message published by the_published_topic. The plugin is correctly installed and launching move_base it is alse loaded, anyway it seems that SimpleLayer::MyCallbackFunction is not called during the execution (output is already set to screen).

I Hope not to be too detailed.

Regards, Federico

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answered 2020-05-20 05:03:05 -0600

Phong Vu
1

You should add a loop to check if the map is received like this (it couldn't receive the map at first) right below the subscriber. (remember to set map_received_ = true in your callback so the rest of the code can continue to run after it receives the map)

  ros::Rate r(10);
  while (!map_received_ && nh.ok())
  {
    ros::spinOnce();
    r.sleep();
  }

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answered 2014-06-19 23:00:46 -0600

fergs

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updated 2014-06-19 23:01:19 -0600

Is it possible that "nh" is a private nodehandle? Have you tried fully specifying the topic name with "/the_published_topic"? Does "rosnode info" or "rostopic info" show that you are subscribed to the topic you think you are subscribed to?

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answered 2014-06-20 07:05:29 -0600

Federico

100 ●11 ●12 ●19

updated 2014-06-20 08:03:55 -0600

Hi,

apparently I solved the problem. Basically the publisher node cannot be run after the move_base node. More precisely it seems that the publisher node should be already on when the method SimpleLayer::onInitialize() is invoked.

Cheers,
Federico

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That shouldn't be needed, I would say this is possibly a bug somewhere, if you have a minimal example piece of code, it might be worth opening an issue against navigation.

fergs ( 2014-06-22 22:33:37 -0600 )edit

Thanks fergs, I'll do it then

Federico ( 2014-06-25 11:48:11 -0600 )edit

Hallo Federico, I'm struggling now with the same problem, can not subscribe to a topic within a layer-plugin. Unfortunately the answers here didn't brought me success. Would you be so kind as to publish here your header and cpp file, or just the important sequences? Thanks in advance!

Romabrand ( 2014-11-04 05:01:46 -0600 )edit

As far as I remember, the solution I found was to run the node with the publisher first. Once the topic is published, run the move_base node (eventually with your plugin). Take a look at my github account (federico-b), the pedestrian_layer repository, there should still be the whole source code.

Federico ( 2014-11-04 07:37:17 -0600 )edit

Thanks a lot! Will try to understand it.

Romabrand ( 2014-11-04 08:19:49 -0600 )edit

I went through the headers and cpp files and could understand a big part of it, but I could not find the subscriber. In the question you wrote that you added the subscriber to SimpleLayer::OnInitialize(). Sorry if I do not understand something right or ask stupid questions, I'm quite a newbie.

Romabrand ( 2014-11-05 10:02:06 -0600 )edit

Probably you're looking the wrong branch. pedestrian-layer should be the right branch to check.

Federico ( 2014-11-05 10:26:27 -0600 )edit

No, I've been looking to the right one, but somehow I can not find the line which is looking somehow like this: sub_ = nh.subscribe("the_published_topic", 1000, &SimpleLayer::MyCallbackFunction, this);

Romabrand ( 2014-11-05 10:50:03 -0600 )edit

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