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ROSWTF "unexpectedly connected" message and creation of new nodes

asked 2016-12-06 01:26:06 -0500

PrasadNR gravatar image

updated 2016-12-10 05:33:25 -0500

I am attempting multi-robot simulation (currently involving two robots) and the problem is with the roswtf which throws "WARNING The following nodes are unexpectedly connected:" warning as mentioned in this terse and beautiful question (But the answer is not satisfactory). But, in my case, roswtf is also creating /tf topics and creating new nodes like /roswtf_11591_1480848778816 and /roswtf_11751_1480848797413 each time I run roswtf.

The rqt_graph s are as shown.


Can somebody be requested to let me know why this is happening and the reason behind it? Thanks for your time and consideration.

Reference note: The entire log can be found here.

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answered 2017-01-24 19:07:32 -0500

tfoote gravatar image

roswtf is initialized as an 'anonymous' node. Which is why it's node name has a unique number attached for each launch so that the node name will not collide with any other instances.

See the anonymous initialization option at

It subscribes to /tf and you are not visualizing new topics but new edges in the graph.

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+1 "you are not visualizing new topics but new edges in the graph"

PrasadNR gravatar image PrasadNR  ( 2017-01-26 01:12:29 -0500 )edit

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Asked: 2016-12-06 01:26:06 -0500

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Last updated: Jan 24 '17