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Remapping between nodes

asked 2017-11-15 02:52:52 -0600

Lodha.sagar39 gravatar image

How to remap between nodes in launch file. Plz guide.im using Ros indigo version

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There is quite some documentationavailable and ROS Answers has some Q&As about it as well.

Can you explain what it is exactly that is unclear to you?

gvdhoorn gravatar imagegvdhoorn ( 2017-11-15 03:23:41 -0600 )edit

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answered 2017-12-11 07:13:23 -0600

Basically, remap is a feature to rename topics, node names and some special keys of ROS env. You can see in this page what you can remap, like a node name (__node), namespace (__ns), log file (__log), etc.

Example: I've a node that publishes Twist messages in a topic called turtlebot_vel, but my robot listens to cmd_vel

You can remap using rosrun command, like this:

rosrun my_pkg my_node.py turtlebot_vel:=cmd_vel

Or inside a launch file (ref):

<launch>
    <node pkg="my_pkg" type="my_node.py" name="my_node">
        <remap from="turtlebot_vel" to="cmd_vel"/>
    </node>
</launch>
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Asked: 2017-11-15 02:52:52 -0600

Seen: 198 times

Last updated: Dec 11 '17