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How to check which topic is changed after one action?

asked 2012-03-28 23:57:55 -0500

yichu gravatar image

If I click one button and want to know which topic is changed because of this action, what can I do to find the changing topic(s)?

For example, I run

  roslaunch sia10d_mesh_arm_navigation planning_scene_warehouse_viewer_sia10d_mesh.launch

I run rostopic list to get

 /clock 
 /goal 
 /ik_solution_display 
 /initialpose 
 /joint_states 
 /ompl_planning/sync_planning_scene/cancel 
 /ompl_planning/sync_planning_scene/feedback 
 /ompl_planning/sync_planning_scene/goal 
 /ompl_planning/sync_planning_scene/result 
 /ompl_planning/sync_planning_scene/status 
 /planning_scene_markers 
 /planning_scene_markers_array 
 /planning_scene_validity_server/sync_planning_scene/cancel 
 /planning_scene_validity_server/sync_planning_scene/feedback 
 /planning_scene_validity_server/sync_planning_scene/goal 
 /planning_scene_validity_server/sync_planning_scene/result 
 /planning_scene_validity_server/sync_planning_scene/status 
 /planning_scene_visualizer_markers 
 /planning_scene_visualizer_markers_array 
 /planning_scene_warehouse_viewer_controls/feedback 
 /planning_scene_warehouse_viewer_controls/update 
 /planning_scene_warehouse_viewer_controls/update_full 
 /rosout 
 /rosout_agg 
 /sia10d_mesh_manipulator_kinematics/sync_planning_scene/cancel 
 /sia10d_mesh_manipulator_kinematics/sync_planning_scene/feedback 
 /sia10d_mesh_manipulator_kinematics/sync_planning_scene/goal 
 /sia10d_mesh_manipulator_kinematics/sync_planning_scene/result 
 /sia10d_mesh_manipulator_kinematics/sync_planning_scene/status 
 /tf 
 /trajectory_filter_server/sync_planning_scene/cancel 
 /trajectory_filter_server/sync_planning_scene/feedback 
 /trajectory_filter_server/sync_planning_scene/goal 
 /trajectory_filter_server/sync_planning_scene/result 
 /trajectory_filter_server/sync_planning_scene/status 
 /warehouse/arm_navigation/motion_plan_request/inserts 
 /warehouse/arm_navigation/outcome/inserts 
 /warehouse/arm_navigation/paused_state/inserts 
 /warehouse/arm_navigation/planning_scene/inserts 
 /warehouse/arm_navigation/trajectory/inserts

How to do that?

Thanks!

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answered 2012-08-29 06:03:38 -0500

Jep gravatar image

You could look which nodes are being launched looking rxgraph before and after you run that command. Once identified them you can look at which topic are publishing each one of them...

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Asked: 2012-03-28 23:57:55 -0500

Seen: 142 times

Last updated: Aug 29 '12