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How is the partition decided in ROS2 ?

asked 2018-07-31 02:54:49 -0500

aks gravatar image

In ROS2 Ardent, the default partition used is rt/. I recently got a ROS2 publisher code snippet where nothing was mentioned about the partition. So I assumed it to be rt/ but when I ran the RTI Admin Console, I got to know that the partition used was rt/ros.

Where do I alter it ?

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answered 2018-07-31 10:48:02 -0500

marguedas gravatar image

Until ROS Bouncy, the full topic names were constructed as follow: <ROS_PREFIX>/<NAMESPACE>/<TOPIC_NAME> where:

ROS_PREFIX is one of the prefixes defined here

Some examples can be found here

The partition value is everything before the last forward slash. In you case I assume that the namespace is ros, resulting in a fully qualified topic name rt/ros/my_topic. This leads to the partition rt/ros and the topic name my_topic.

Note that as of ROS Bouncy the partitions are not used anymore so for the topic rt/ros/my_topic the partition will be an empty string and the DDS topic name will be rt/ros/my_topic

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Asked: 2018-07-31 02:54:49 -0500

Seen: 59 times

Last updated: Jul 31 '18