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How to make a python listener&talker on the same node?

asked 2014-09-29 09:22:09 -0500

diegomex gravatar image

updated 2014-09-29 09:32:02 -0500

Hi, I would like to make a listener/talker in python. I already looked at the tutorials. However, these examples implement two separated codes, a listener and a talker, and I would like to implement them on the same node:

  1. Some external node (TalkerA) shouts some mesagges through a topic TopicA (NO PROBLEM, it's a simple talker).
  2. A second node (ListenerTalker) subscribes to TopicA and shouts something in TopicB.

For example, TalkerA shouts "Hello", and ListenerTalker listens TopicA and shouts "HelloWorld"...

How can I do this? It's a simple question, but it's not clear for me. Cheers!

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Do you want to do something else with your TopicA? Or is this data useful for another node? I'm asking because this looks a little bit like a bad design.

BennyRe gravatar image BennyRe  ( 2014-09-30 00:30:05 -0500 )edit

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answered 2014-09-29 09:49:20 -0500

Rabe gravatar image

updated 2014-09-29 10:40:02 -0500

There is no magic trick to make this work, you just initialize both after you have called rospy.init_node(...) (Edited in response to your comment)

import rospy
from std_msgs.msg import String
rospy.init_node("One_node_to_rule_them_all")
pub = rospy.Publisher("echo", String)

def callback(input):
        pub.publish(input.data)
        # The message has 2 parts, a header and the data. We only want to use the actual data

sub = rospy.Subscriber("chatter", String, callback)

pub2 = rospy.Publisher("chatter", String)
pub2.publish("'Stop repeating everything I say")

When you run rostopic echo /echo It will show the desired output

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Hi Rabe, thank you for your answer. What I want to do is to publish the received "data" in a new topic... I supose that maybe this should be done inside the callback that received "data", but I really dont know. "Data" is only avalable inside the callback local context, not for the publisher. Cheers

diegomex gravatar image diegomex  ( 2014-09-29 10:22:05 -0500 )edit

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Asked: 2014-09-29 09:22:09 -0500

Seen: 1,105 times

Last updated: Sep 29 '14