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ROS2 Resolve topic names rclcpp

asked 2021-02-12 09:44:17 -0500

vinny gravatar image

updated 2021-02-17 11:31:28 -0500

In ros1 cpp I was able to resolve a string containing the topic name to the actual topic name that accounts for remappings using the following block:

  // Determine topic name (including remapping)
  std::string mag_topic_name = "/imu/mag";
  mag_topic_name = ros::names::resolve(mag_topic_name);

Is there a similar way I can do this in rclcpp ROS2? I tried digging through the documentations, but could not find something.

Thanks in advance!

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answered 2021-11-21 21:12:27 -0500

KenYN gravatar image

I've been looking for this today, and there is a function in Galactic Rolling:

RCLCPP_PUBLIC std::string resolve_topic_name(const std::string & name, bool only_expand = false) const override;

See this pull request. I've copied the code over to my own node.

The only_expand parameter, if true, just adds on the namespace. If false, it also applies remapping, which is probably the option you want.

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Asked: 2021-02-12 09:44:17 -0500

Seen: 164 times

Last updated: Nov 21 '21