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Loading node with nodelet manager doesn't work

asked 2016-02-09 05:35:21 -0600

nampi gravatar image

updated 2016-02-10 16:33:37 -0600

I work in simulation.

I have this node in the launch file:

<node pkg="nodelet" type="nodelet" name="turtlebot_follower"
      args="standalone turtlebot_follower/TurtlebotFollower">
      <remap from="depth/points" to="camera/depth/points"/>

The program works. "turtlebot_follower" node subscribes to /camera/depth/points. Then I want to load this node in nodelet_manager. Here is a new launch file:

<node pkg="nodelet" type="nodelet" name="turtlebot_follower"
      args="load turtlebot_follower/TurtlebotFollower manager">
      <remap from="depth/points" to="camera/depth/points"/>

I launched manager:

 rosrun nodelet nodelet manager

Then I run launch file. The program doesn't work. There is no subscriber to /camera/depth/points topic.

How can I solve this problem?

UPDATE: using command

rosrun nodelet nodelet manager
instead of
rosrun nodelet nodelet manager __name:=nodelet_manager

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2 Answers

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answered 2016-02-11 18:31:42 -0600

nampi gravatar image

I used difference namespace. When I launched nodelet manager in the same namespace it worked.

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answered 2016-02-09 20:41:40 -0600

tfoote gravatar image

I'm not sure why it doesn't work like you're trying, but I suspect that you're interfering with the nodelet's attempts to remap itself. The nodelet manager expects the last argument to be it's name without the __name:=

Try just running it with

rosrun nodelet nodelet manager nodelet_manager
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@tfoote I think the last argument is ignored in this command "rosrun nodelet nodelet manager nodelet_manager" . I see "/manager" in output of "rosnode list" command. If I use "__name:=" then I see "/nodelet_manager" node. I've updated the question to use command without "__name:=".

nampi gravatar image nampi  ( 2016-02-10 16:30:44 -0600 )edit

@tfoote I see "/manager" and "/turtlebot_follower" nodes in output of "rostopic list". Which node should be subscribed to "/camera/depth/points"?

nampi gravatar image nampi  ( 2016-02-10 16:39:18 -0600 )edit

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Asked: 2016-02-09 05:35:21 -0600

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Last updated: Feb 11 '16