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content of a node's publications

asked 2014-09-24 00:44:06 -0500

Mehdi. gravatar image

updated 2014-09-24 00:52:16 -0500

I am playing around with the navigation stack and turtlebot and trying to debug the errors I get. Especially the topic /tf where many nodes are publishing transformations. How to know from which node is which transformation? Is there something like rostopic echo that allows to echo nodes coming from a preselected node?

When I run rosrun tf tf_monitor all I get is :

Frame: pole_middle_3_link published by unknown_publisher Average Delay: -0.5 Max Delay: 0

for all published transforms.

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I remember that there's somewhere the information about the publisher in the message, but don't remember the exact name or position of it. This has been asked a several time here. All answers said that this information should only be used to debug. I don't think rostopic can do that.

BennyRe gravatar image BennyRe  ( 2014-09-24 01:19:11 -0500 )edit

any suggestion about keywords to search about old questions?

Mehdi. gravatar image Mehdi.  ( 2014-09-24 02:34:07 -0500 )edit

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answered 2014-09-24 03:01:02 -0500

BennyRe gravatar image

Found the link: http://wiki.ros.org/rospy/Overview/Pu...

You have to write your own little node that prints the publishers.

Please note the comment on this site:

We do not recommend using callerid information beyond debugging purposes, as it can lead to brittle code in an anonymous publish/subscribe architecture.

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yes it is just for debugging, thanks :)

Mehdi. gravatar image Mehdi.  ( 2014-09-24 03:22:43 -0500 )edit
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answered 2014-09-24 09:16:47 -0500

dornhege gravatar image

updated 2014-09-24 09:17:09 -0500

Use rosrun tf view_frames. In addition to the TF frames it displays the broadcaster for each transform.

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view_frames can be useful but it still doesn"t show what is being published exactly.

Mehdi. gravatar image Mehdi.  ( 2014-09-24 20:41:53 -0500 )edit

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Asked: 2014-09-24 00:44:06 -0500

Seen: 166 times

Last updated: Sep 24 '14