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How to publish custom topic from command line

asked 2020-11-18 12:33:07 -0500

Marcus Barnet
277 ●63 ●74 ●83

Hi to all,

I have a ROS Node that uses custom messages:

//robo_io.msg
bool out_0
bool out_1
int64 var1

I publish them from my node in C++ in this way:

var_pub = n.advertise<robo_explorer::robo_io>("/robo_explorer/io_status, 1000);

and it works very well!

The problem is that I would like to send some messages by using the terminal, but I'm having problems with the syntax to use.

I tried with:

rostopic pub /robo_explorer/io_status std_msgs/Bool "out_1: true"

but it says that there is no field name out_1.

Can you help, me?

Thank you!

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answered 2020-11-18 12:43:53 -0500

chfritz

553 ●2 ●48 ●18 https://luminrobotics.com

To publish on a topic you need to use the topic type of that topic (just like you are doing in C++).

rostopic pub /robo_explorer/io_status robo_explorer/robo_io "{ out_1: true }"

Assuming that's the namespace and name of your custom message and you've sourced your workspace in the current shell (so that rostopic can find the custom message definition).

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Additionally, you should be able to use tab completion after typing rostopic pub /robo_explorer/io_status, and it will automagically fill in both the message type and then the correct syntax to specify the values.