Publishers shouldn't crash just because nothing is subscribing to their
messages. Can you attach a log of the crash?

If you're looking for a tool that just controls the base, you could take
something like the old "teleop_base" package and modify it. The package is
deprecated and unsupported, but you could use that as a starting point for
your specific application.

https://code.ros.org/svn/wg-ros-pkg/branches/trunk_cturtle/sandbox/teleop_base/

Kevin

On Thu, Sep 9, 2010 at 5:23 PM, Nate <throwawaynate2008@gmail.com> wrote:

> I have a quick question about the pr2_teleop package that I'm hoping
> someone can help with.
>
> I am trying to use this node without the torso and head publishers, I only
> need the Twist message published on cmd_vel. The docs say that not setting
> the torso and head buttons will disable these publishers.
>
> I don't set these params, but the publishers for head and torso publish
> anyway. I don't have anything subscribing to them, so I get a crash. I
> traced the crash back to the publishers for head and torso attempting to
> publish to a non-existent topic. As a test, removing the lines of code that
> do the publishing fix the problem.
>
> Is there any way to disable these publishers without modifying the code?
> I'd like to keep a vanilla pr2_teleop package on my system, but I need it to
> work without torso and head topics available. I need to do this because I'm
> working on a driver for a platform that is just a base as of right now, and
> I'd like to just use pr2_teleop for some testing.
>
> I launch the node as such in a launch file:
>
> <node name="teleop" pkg="pr2_teleop" type="teleop_pr2">
>      <param name="axis_vx" value="1" type="int" />
> </node>
>
> Thanks,
> Nate
>
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