Sending a message containing messages

asked 2017-02-01 07:58:25 -0600

ashwath1993 gravatar image

My current rqt_graph looks as follows
image description
All the nodes on the left send the same message sensor.msg.
Is there a way to send a message from FB1 which is an encapsulation of all the messages from the nodes on the left?
Like a message containing messages *struct of type sensors.msg which is sent by FB1 to the nodes on the right.

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Why do you need such encapsulation? Why don't you subscribe the nodes on the right to the topics they consume from the left?

Martin Peris gravatar image Martin Peris  ( 2017-02-01 17:30:03 -0600 )edit

The node in the middle is on the processor, it receives the messages, processes them and forwards the actions to the nodes on the right. I have limited memory and hence need to find a way to encapsulate the messages

ashwath1993 gravatar image ashwath1993  ( 2017-02-02 03:22:04 -0600 )edit