Hi,<br><br>I have a really generic ROS design question regarding the ROS interface for our arm / hand.<br><br>My current implementation is (well if I simplify a bit):<br> - a publisher that periodically publishes all the joints informations on ONE topic<br>
 - a subscriber that subscribes to my own msg which takes a vector of joint_names + associated targets, loop on this vector, looks up the name in the hash map and send the target to the relevant joint in our hardware.<br>
<br>When I look at other interfaces, it often seems to be:<br> - a vector of publishers publishing data, one publisher per joint<br> - a vector of subscribers for the commands, one subscriber per joint<br><br>I can see the advantage of having one topic per motor as it is then easy to send a command to a couple of joints, ... <br>
<br>I just wanted to know if there&#39;s a big overhead having lots of publishers / subscribers compared to having one. If you have any good advices regarding this design, I&#39;m all ears :)<br><br>Cheers,<br><br>Ugo<br clear="all">
<br>-- <br>Ugo Cupcic | Shadow Robot Company | <a href="mailto:ugo@shadowrobot.com" target="_blank">ugo@shadowrobot.com</a> <br>Software Engineer | 251 Liverpool Road | <br>need a Hand? | London N1 1LX | +44 20 7700 2487 <br>
<a href="http://www.shadowrobot.com/hand/" target="_blank">http://www.shadowrobot.com/hand/</a> @shadowrobot <br><br>