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rosbridge how to subscribe from multi rostopic

asked 2012-07-24 11:21:20 -0500

koprenee gravatar image

I know that use such function I can use msg subscribe from the topic called /sensorPacket:

connection.callService('/rosjs/subscribe','["/sensorPacket",0]',function(rsp) { alert('subscribed to /sensorPacket'); });

But I want information from 2 topics, for example /a and /b . How can I realize? can I just use in such way:

connection.callService('/rosjs/subscribe','["/a,/b",0]',function(rsp) { alert('subscribed to /sensorPacket'); });

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answered 2012-07-24 11:45:20 -0500

updated 2012-07-24 15:42:38 -0500

You can reuse callbacks for multiple subscription requests and as the handler for incoming messages.

subscription_ok_callback = function(rsp) {
    alert("subscribed to /sensorPacket");

connection.callService("/rosjs/subscribe", '["/a", 0]', subscription_ok_callback);
connection.callService("/rosjs/subscribe", '["/b", 0]', subscription_ok_callback);

message_received_callback = function(msg) {
    alert("received a message: " + msg);

connection.addHandler("/a", message_received_callback);
connection.addHandler("/b", message_received_callback);
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answered 2012-07-24 15:40:27 -0500

Actually, my first answer was incorrect, and I have edited it for correctness.

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answered 2012-07-24 14:44:46 -0500

koprenee gravatar image

Actually, I can use "connection.addHandler('/a',function(msg) {.....});" to get msg from topic /a .
And what I want is to use msg from both topic /a and topic /b in the same handler.

I'm not sure there's any way to use msg from two topics in one handler.

By the way, using your example I found that rsp is "OK" but not the msg from topic, so what does the rsp's content mean? just subscribe is successful?

Thank you for your kindness!

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answered 2012-07-24 19:26:22 -0500

koprenee gravatar image

Thank you, It's helpful for me!

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Asked: 2012-07-24 11:21:20 -0500

Seen: 413 times

Last updated: Jul 24 '12