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How can I use rosnode to see nodes within other nodes?

asked 2016-06-15 04:20:09 -0500

sonitron gravatar image


I am trying to run several nodes within the same executable. Here is a minimal example (a shortened version of this tutorial):

#include "ros/ros.h"
#include "std_msgs/String.h"
int main(int argc, char **argv)
    ros::init(argc, argv, "node_handle_namespaces");
    ros::NodeHandle node1("level1");
    while(ros::ok()) {}
    return 0;

When I run this example, the output of rosnode list is:


How can I see whether the level1 node is running?

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maybe consider nodelets?

Mehdi. gravatar image Mehdi.  ( 2016-06-15 04:47:40 -0500 )edit

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answered 2016-06-15 04:24:47 -0500

gvdhoorn gravatar image

In ROS1, there is a one-to-one mapping between nodes and processes. Multiple NodeHandles can be created, but they don't map to separate nodes.

Can you perhaps explain a bit more what you are trying to do?

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I want to create a hierarchical multi-agent system with multiple robots that each have several actors. Each robot should have a node handle that I can send commands to. Each actor of the robot should have a node handle that the robot controller can send commands to.

sonitron gravatar image sonitron  ( 2016-06-15 04:39:33 -0500 )edit

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Asked: 2016-06-15 04:19:18 -0500

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Last updated: Jun 15 '16