Creating two nodes with same frame id, but different topics

asked 2017-04-23 12:58:02 -0500

frizzle
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updated 2017-04-26 12:14:48 -0500

Hi everyone,

I have quite a few bagfiles containing different messages which I want to display using rviz.
The problem is that I have two messages with the same message type and same frame id, but I want them to be displayed as two different nodes, which I want to create using a launch-file. They have different topics, though.
Does anyone know how to achieve that?

Thanks in advance!

Edit: Sorry for any unclarity. What I want to achieve is to get two nodes similar to this one:

<node name="tf_imu" pkg="static_transform_publisher" args="-1 0 3.5 3.14159 -1.5708 0 base_link imu 200" />

The thing I want to achieve is to get a different transformation for each of them, so the args should be slightly different. But both messages are of type "sensor_msgs/Imu".
The topics look like this:

/imu1/imu/imu
/imu2/imu/imu

And they both have the frame id "imu". Is there anything I can do to achieve that?

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What do you mean by "displayed as two different nodes"? If the data is already in separate topics, then playing the bag file will keep it in separate topics.

Geoff ( 2017-04-23 20:12:31 -0500 )edit

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answered 2017-04-26 19:25:59 -0500

Geoff

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If you have two topics in a bag file that use the same frame_id, but you want them to have separate frame_ids, you can use the change_frame_id.py tool from the bag_tools package to change the frame_id on one of the nodes. You can install it with apt-get install ros-kinetic-bag-tools or similar.

In your situation, you could do this:

rosrun bag_tools change_frame_id.py -i current.bag -o new.bag -f imu2 -t "/imu2/imu/imu"

This would produce a new bag file in which the messages on the /imu2/imu/imu topic have the frame_id imu2. Then you can have a second static_transform_publisher in your launch file that publishes a transform from base_link to imu2:

<node name="tf_imu2" pkg="static_transform_publisher" args="1 0 3.5 3.14159 -1.5708 0 base_link imu2 200" />

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Thanks for your suggestion! Unfortunately, I'm not able to modify the bag files, but this will surely help others.

frizzle ( 2017-04-28 11:11:54 -0500 )edit

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Creating two nodes with same frame id, but different topics

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