nodelet name appended to topic

asked 2022-02-06 09:15:42 -0600

ashwath1993 gravatar image

Hi,

I created a nodelet to read a point cloud. It is a small example taken from the nodelet_math available in the common_tutorials for ROS.

Everything seems to be working fine. If I run the nodelet using the launch

<launch>
<node pkg="nodelet" type="nodelet" name="read_pcl_test" args="load nodelet_pcl/ReadPcl standalone_nodelet" output="screen">
<remap from="~in" to="kitti/velo/pointcloud"/>
</node>       
</launch>

It launches the nodelet. But the topic is remapped to read_pcl_test/kitti/velo/pointcloud.

I have created my ReadPcl class by inheriting from the nodelet::Nodelet class.

How do I fix this? I am not able to find helpful docs for the nodelet or what is happening here.

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