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Determine if another rosnode is subscribing to published topic?

asked 2012-10-17 06:20:22 -0500

PerkinsJames gravatar image

Is there a way for a publisher to check if another node is online and/or if the other node has established subscriptions to topics? (C++). I want to ensure that I don't send a configuration command if the subscriber has not yet subscribed.

I've seen this before that you can do this, but I don’t remember how.


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answered 2012-10-17 07:11:56 -0500

dornhege gravatar image

updated 2012-10-17 07:12:32 -0500

pub.getNumSubscribers() > 0

Depending on your application, consider a latched publisher.

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answered 2012-12-11 23:14:57 -0500

Benoit Larochelle gravatar image

If you cannot use a latch, this question is related:

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Asked: 2012-10-17 06:20:22 -0500

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Last updated: Dec 11 '12