How to prevent the second publisher to publish on the same topic?

asked 2021-02-11 09:13:26 -0600

114 ●9 ●15 ●20

updated 2021-02-12 02:04:30 -0600

Hello everyone,

I am working with ROS2 in my project and I know ROS/ROS2 is capable to handle multiple publishers and subscribers on the same topic. Due to some limitations in my project, I would like to prevent the second publisher to publish on the same topic. It needs to be kind of one publisher for one topic.

Basically, is it something doable in the ROS environment? If so, is there any option or notification infrastructure that notifies the first publisher or any other node?

Thanks in advance.

Comments

an observation: you tagged this question as ROS1 and ROS2, spanning multiple distros (noetic&melodic vs. foxy&eloquent). Anything specific this refers to?

mgruhler ( 2021-02-12 01:55:01 -0600 )edit

twist_mux package does something similar for geometry_msgs::Twist messages.

skpro19 ( 2021-02-12 15:45:19 -0600 )edit

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answered 2021-02-12 02:05:56 -0600

mgruhler

12390 ●32 ●193 ●173 https://github.com/mgruhler

No, the intent of the Publish-Subscrib-Pattern is to allow that. See also the ROS1 wiki and the ROS2 wiki for background information.

Note that you could work around that with using the (getNumPublishersfunction)[http://docs.ros.org/en/noet... of subscribers (in ROS1 at least) to check if this is actually fine. Even though that would then not allow you to do a rostopic pub for testing purposes...

You need to make sure manually, that this requirement is met.