[ros-users] Runtime remap

Mike Purvis mpurvis at clearpathrobotics.com
Thu Nov 11 20:31:32 UTC 2010

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.


On 11 November 2010 14:36, Josh Faust <jfaust at willowgarage.com> 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
> <http://www.ros.org/wiki/topic_tools/mux>Josh
> On Thu, Nov 11, 2010 at 11:22 AM, Mike Purvis <
> mpurvis at 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
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