Better way for many-to-many robot communication

asked 2017-10-01 20:35:47 -0600

jasonwang538@gmail.com gravatar image

Hi everyone.

I am using ROS-Gazebo in my project for simulating natural swarming behaviour. I used publish/subscribe topic as a manner for simulating inter-robot communication. I feel okay for one-to-many message broadcast through publishing topic. However, I am confused about how to achieve many-to-one message reception. More specifically, I am wondering how to let one robot receive many messages through rostopic system. I cannot create one callback function for each message. In my case, it could be even 20~30 robots in simulation. Except for creating20~30 callback functions in each robot's controller, does anyone have any better idea for achieving this multi-message reception in one robot.

BTW, messages from all robots follow the same structure. I appreciate any information from you.

Jason

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Comments

If messages from all robots have the same structure, they have the same type, like for example std_msgs/String?

You could use the same callback for any topic that publishes messages of a specific type.

Ruben Alves gravatar imageRuben Alves ( 2017-10-02 06:20:25 -0600 )edit

Thanks Ruben. Actually, even though each topic use the same data structure, it needs some specific compution for the data. I am trying to add some parameters to callback function to achieve it. I found boost::bind could be a possible solution. I am trying that.

jasonwang538@gmail.com gravatar imagejasonwang538@gmail.com ( 2017-10-02 17:07:17 -0600 )edit