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Two nodes publish to one topic

asked 2015-05-06 01:03:51 -0500

tony gravatar image

There are two node publishing message to cmd_vel topic. One node is for self-driving, the other one is for teleoperation. How to set the teleoperation node has the high priority when publishing to cmd_vel?

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answered 2015-05-06 02:51:02 -0500

dornhege gravatar image
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answered 2015-05-06 01:15:32 -0500

Wolf gravatar image

There is no build-in priority system in ROS for saying one node has higher prio than other when publishing. So you have to find another workaround.

A simple approach for that would e. g. be to have your nodes publishing on different topics and set up a republisher node that subscribes to both topics and republishes the msgs from the tele-op topic to cmd_vel if there are msgs coming in and otherwise it republishes the msgs from the self-driving topic....

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Asked: 2015-05-06 01:03:51 -0500

Seen: 500 times

Last updated: May 06 '15