Remap inside a launch file vs remapping during rosbag play

asked 2020-07-25 04:30:42 -0500

praskot
257 ●6 ●22 ●18

updated 2020-07-25 04:31:31 -0500

Hi All,

Goal (more of getting to know tutorial): Trying to run this particular code http://wiki.ros.org/image_pipeline/Tutorials/Simple%20image%20processor on an image from a rosbag.

Instead of changing the topic name inside the code (obviously this works), I tried the remap option in a launch file, which I thought is the better way. Tried the following two launch scripts,
launch_file1:

<launch>
  <node name="image_shrinker_node" pkg="image_shrinker" type="image_shrinker" output="screen">
  <remap from="/ns/camera1/image_raw" to="/camera/image_raw"/>
  </node>
</launch>

launch_file2:

<launch>
  <remap from="/ns/camera1/image_raw" to="/camera/image_raw"/>
  <node name="image_shrinker_node" pkg="image_shrinker" type="image_shrinker" output="screen">
  </node>
</launch>

Neither seems to work. The only I could get this to work is remapping it during rosbag play as, rosbag play bag_file.bag /ns/camera1/image_raw:=/camera/image_raw

Can anyone help me figure out what went wrong in the launch file?

Thank you

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Thanks Geoff. That makes sense.

Also, does that mean remap works only on the publisher's end?

praskot ( 2020-07-26 20:21:28 -0500 )edit

No, remapping works just fine on the subscriber as well.

Geoff ( 2020-07-26 20:31:27 -0500 )edit

I see! Thanks

This works,

<launch>
  <node name="image_shrinker_node" pkg="image_shrinker" type="image_shrinker" output="screen">
  <remap from="/camera/image_raw" to="/ns/camera1/image_raw"/>
  </node>
</launch>

praskot ( 2020-07-26 22:26:02 -0500 )edit

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Remap inside a launch file vs remapping during rosbag play

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