Okay, sweet, thanks very much for the suggestion. That will be a big improvement--- there are so many packages in ROS, it's sometimes hard to know when to look for a generic version of what you need versus just rolling a quickie new one. Teleop seems to be another one of those cases, where individual platforms have their own nodes for it--- there used to be a teleop_base, but now it's deprecated in favour of pr2_teleop, nxt_teleop, etc. So we have our own Clearpath teleop node, but it seems like the basic functionality of turning Joy messages on /joy to appropriately scaled Twist messages on /cmd_vel should be fairly easy to generalize. Mike On 11 November 2010 14:36, Josh Faust wrote: > Runtime remapping is not supported, no. The mux node in topic_tools > provides a generic version of your JoySwitch node: > > http://www.ros.org/wiki/topic_tools/mux > > Josh > > On Thu, Nov 11, 2010 at 11:22 AM, Mike Purvis < > mpurvis@clearpathrobotics.com> wrote: > >> Hey all, >> >> Is it possible to remap topics (or other names) at runtime? >> >> The reason I ask is this: We have some simple waypoint navigation running >> with a web gui for our platform, but we like being able to use the web gui >> to quickly switch over to manual control. Currently, this is implemented >> with a "JoySwitch" node, which basically acts as a remapper, and which >> receives its remapping directions from the gui. This seems like a terrible >> state of affairs, and I'm just wondering what the best course of action is. >> >> Ideally, there'd be some way that the gui could redirect the teleop node's >> Twist messages over to the platform's namespace without anyone (itself, or >> any other intermediary) needing to actually receive and resend them. Is this >> possible? If not, would it be better to have this functionality (the receive >> and re-send) baked into the gui node itself? >> >> Thanks, >> >> Mike >> >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users >> >> > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > >