Suspend a publisher [closed]

asked 2017-03-15 05:48:59 -0500

jony
23 ●4 ●5 ●8

Hi! In my system there are 2 nodes that publish on a topic concurrently. This situation leads an unstable state for my system, so I would suspend publication (only for that topic) from one of the two nodes. I wouldn't work on the code of two nodes. There is a way to pause the subscribtion of a publisher to a topic? Thanks

Closed for the following reason the question is answered, right answer was accepted by jony
close date 2017-03-16 09:09:35.419542

answered 2017-03-15 10:37:50 -0500

lucasw

8729 ●137 ●239 ●256 https://github.com/lucasw

With a topic_tools mux you can feed both inputs into a node and select which gets published out with a service call:

http://wiki.ros.org/topic_tools/mux

So instead of

node1 -> topicA 
node2 -> topicA
topicA -> node3

it would be

node1 -> topicB -> mux
node2 -> topicC -> mux
mux -> topicA  (which is a copy of either B or C depending on mux selection)
topicA -> node3

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Comments

thank you for the answer, but following your suggestion I should work on the code of node1 and node2 to divert respectively node1 to topic B and node2 to topicC. Right? In this case your solution isn't good for me.