how to make multiple topics with nmea_navsat_driver
Hello,
I'm trying to figure out how to create 2 nodes and 2 topics for 2 GPS receivers. I'm not sure which files to adjust. Can anyone shed some light in which files I would modify to add the init_node command and publish command?
Thank you
Asked by SupermanPrime01 on 2017-04-25 17:34:00 UTC
Comments
Could you please tell us what you ended up doing that solved your question? That way future readers could potentially use the same appraoch.
I'm guessing you used the
name
attribute of thenode
tag in a launch file?Asked by gvdhoorn on 2017-04-26 02:19:19 UTC
Sure thing. So what I did was I duplicated the file "nmea_serieal_driver" in the "nmea_navsat_driver/scripts" folder and renamed it to "nmea_serieal_driver1". Then I went into the code and changed the "rospy.init_node" name and anywhere it said "libnmea_navsat_driver.driver", I changed it to
Asked by SupermanPrime01 on 2017-04-26 18:28:55 UTC
"libnmea_navsat_driver.driver1" then I went to the "nmea_navsat_driver/src/libnmea_navsat_driver.driver" folder to duplicated "driver.py" to "driver1.py" and within the document I changed the publishing topic from fix to fix1.
Asked by SupermanPrime01 on 2017-04-26 18:31:32 UTC
Ok. So that is what you don't want to do.
Look into ROS launch files, specifically the
name
attribute of thenode
element, and perhaps thegroup
element with thens
attribute.That will allow you to start an 'infinite' nr of instances of the same node without editing any source code.
Asked by gvdhoorn on 2017-04-27 09:21:35 UTC