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Subscribing to a message type regardless of the topic name

asked 2017-04-28 14:52:46 -0500

updated 2017-04-28 14:58:54 -0500

Is there a way to subscribe to all messages of a given type without knowing their topic names? It would be perfect, if the callback function could additionally see the related topic name.

My application: I would like to write a node, which is supposed to do some administrative work and therefor collects all sensor_msgs/CameraInfo messages from every camera on my robot. But I don't know how many cameras my robot has.

This question comes close to what I need, but I'd still have to maintain a list of all my cameras separately. Any ideas?

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answered 2017-04-28 15:19:42 -0500

gvdhoorn gravatar image

You could probably use the Master API to get a list of all publishers for a particular message type (getTopicTypes(..)). Then iterate over that and subscribe to the topics that you're interested in.

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Thanks for the hint. That looks good.

Andre Volk gravatar imageAndre Volk ( 2017-05-01 09:52:36 -0500 )edit

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Asked: 2017-04-28 14:52:46 -0500

Seen: 67 times

Last updated: Apr 28 '17