They assert if you haven't advertised them though.  This looks like a bug in
pr2_teleop -- it's publishing through the publishers even if it didn't
advertise originally.

Josh

On Thu, Sep 9, 2010 at 6:42 PM, Kevin Watts <watts@willowgarage.com> wrote:

> 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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>>
>>
>
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