Good catch. Just made a ticket:

https://code.ros.org/trac/wg-ros-pkg/ticket/4712

Nate, if you have a patch, just attach it to the ticket.

Kevin


On Thu, Sep 9, 2010 at 7:08 PM, Josh Faust <jfaust@willowgarage.com> wrote:

> 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
>>>
>>> _______________________________________________
>>> ros-users mailing list
>>> ros-users@code.ros.org
>>> https://code.ros.org/mailman/listinfo/ros-users
>>>
>>>
>>
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