Dealing with several sensors
Hi, I'm wondering about best practices (when it comes to performance or robustness for instance) for dealing with several sensors. Imagine our robot has 5 IR sensors and 2 sonars, is it better to handle the communication with all the IR sensors with one node and the communication with the 2 sonars with another node and then publish on two different ROS topics messages with the relevant sensors' data or is it better to handle the communication with 7 nodes (5 for the IR and 2 for the sensors) that all publish messages on a unique topic associated with that node (7 topics therefore).
Thanks.