Can I "overload" topic names in ROS? (Different versions by datatype)

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asked 2011-04-12 07:33:24 -0500

Murph
1033 ●33 ●41 ●55 http://localhost/

updated 2011-04-12 07:47:06 -0500

Can I advertise a topic with one name and two versions depending on the data type being transferred?

Specifically, the pointcloud_throttle node is hardcoded to a depth-only pointcloud, and I'm going to extend it to a RGB cloud as well. I want to know if i can just

pub_ = nh.advertise<pointcloud>("cloud_out", 10);

pub_ = nh.advertise<pointcloudrgb>("cloud_out", 10);

Or if i need to come up with a separate topic name, etc.

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Do you mean topic names?

Eric Perko ( 2011-04-12 07:34:14 -0500 )edit

woops, yup, edited.

Murph ( 2011-04-12 07:41:52 -0500 )edit

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answered 2011-04-12 08:10:58 -0500

kwc
12244 ●54 ●90 ●132 http://kwc.org/

No, you cannot overload topics.

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answered 2011-04-12 07:53:30 -0500

Eric Perko

8406 ●73 ●90 ●144 http://ericperko.com/

updated 2011-04-12 07:54:17 -0500

I'm not 100% sure on the answer to this (my gut says "no, for example how would rostopic echo know which to subscribe to"), but I think you may be able to get around the problem by just throttling sensor_msgs::PointCloud2 types. I've not looked into the code, but does it matter what data is contained in the PointCloud?

Maybe you could even extend it to a ShapeShifter type, like the node version of the generic throttle does and see about it getting into nodelet_topic_tools (not really sure why there isn't one already...).

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Can I "overload" topic names in ROS? (Different versions by datatype)

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