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Package Summary
This package contains common nodelet tools such as a mux and a demux nodelet.
- Author: Radu Bogdan Rusu, Tully Foote
- License: BSD
- Repository: ros-pkg
- Source: svn https://code.ros.org/svn/ros-pkg/stacks/common/tags/common-1.4.3
Package Summary
This package contains common nodelet tools such as a mux and a demux nodelet.
- Author: Radu Bogdan Rusu, Tully Foote
- License: BSD
- Repository: common
- Source: hg https://kforge.ros.org/common/nodeletcore
Package Summary
This package contains common nodelet tools such as a mux, demux and throttle.
- Author: Radu Bogdan Rusu, Tully Foote
- License: BSD
- Source: git https://github.com/ros/nodelet_core.git (branch: fuerte-devel)
Package Summary
This package contains common nodelet tools such as a mux, demux and throttle.
- Maintainer status: maintained
- Maintainer: Tully Foote <tfoote AT osrfoundation DOT org>
- Author: Radu Bogdan Rusu, Tully Foote
- License: BSD
- Source: git https://github.com/ros/nodelet_core.git (branch: groovy-devel)
Package Summary
This package contains common nodelet tools such as a mux, demux and throttle.
- Maintainer status: maintained
- Maintainer: Esteve Fernandez <esteve AT osrfoundation DOT org>
- Author: Radu Bogdan Rusu, Tully Foote
- License: BSD
- Source: git https://github.com/ros/nodelet_core.git (branch: hydro-devel)
Package Summary
This package contains common nodelet tools such as a mux, demux and throttle.
- Maintainer status: maintained
- Maintainer: Mikael Arguedas <mikael AT osrfoundation DOT org>
- Author: Radu Bogdan Rusu, Tully Foote
- License: BSD
- Bug / feature tracker: https://github.com/ros/nodelet_core/issues
- Source: git https://github.com/ros/nodelet_core.git (branch: indigo-devel)
Package Summary
This package contains common nodelet tools such as a mux, demux and throttle.
- Maintainer status: maintained
- Maintainer: Mikael Arguedas <mikael AT osrfoundation DOT org>
- Author: Radu Bogdan Rusu, Tully Foote
- License: BSD
- Bug / feature tracker: https://github.com/ros/nodelet_core/issues
- Source: git https://github.com/ros/nodelet_core.git (branch: indigo-devel)
Package Summary
This package contains common nodelet tools such as a mux, demux and throttle.
- Maintainer status: maintained
- Maintainer: Mikael Arguedas <mikael AT osrfoundation DOT org>
- Author: Radu Bogdan Rusu, Tully Foote
- License: BSD
- Bug / feature tracker: https://github.com/ros/nodelet_core/issues
- Source: git https://github.com/ros/nodelet_core.git (branch: indigo-devel)
Package Summary
This package contains common nodelet tools such as a mux, demux and throttle.
- Maintainer status: maintained
- Maintainer: Mikael Arguedas <mikael AT osrfoundation DOT org>
- Author: Radu Bogdan Rusu, Tully Foote
- License: BSD
- Bug / feature tracker: https://github.com/ros/nodelet_core/issues
- Source: git https://github.com/ros/nodelet_core.git (branch: indigo-devel)
Package Summary
This package contains common nodelet tools such as a mux, demux and throttle.
- Maintainer status: maintained
- Maintainer: Mikael Arguedas <mikael AT osrfoundation DOT org>
- Author: Radu Bogdan Rusu, Tully Foote
- License: BSD
- Bug / feature tracker: https://github.com/ros/nodelet_core/issues
- Source: git https://github.com/ros/nodelet_core.git (branch: indigo-devel)
Package Summary
This package contains common nodelet tools such as a mux, demux and throttle.
- Maintainer status: maintained
- Maintainer: Geoffrey Biggs <geoff AT openrobotics DOT org>
- Author: Radu Bogdan Rusu, Tully Foote, Michael Carroll <michael AT openrobotics DOT org>
- License: BSD
- Bug / feature tracker: https://github.com/ros/nodelet_core/issues
- Source: git https://github.com/ros/nodelet_core.git (branch: noetic-devel)
The nodelet_topic_tools package contains a MUX (NodeletMUX) and a DEMUX (NodeletDEMUX) nodelet.
MUX
NodeletMUX represent a mux nodelet for topics: it takes N (<=8) input topics, and publishes all of them on one output topic. One implementation of NodeletMUX can be found in pcl_ros.
Usage example:
1 <node pkg="nodelet" type="nodelet" name="pcl_manager" args="manager" output="screen" />
2 <!-- MUX the data onto one topic -->
3 <node pkg="nodelet" type="nodelet" name="data_mux" args="load pcl/NodeletMUX pcl_manager" output="screen">
4 <rosparam>
5 input_topics: [/passthrough/output, /normal_estimation/output]
6 </rosparam>
7 </node>
The above accepts data from /passthrough/output and /normal_estimation/output, and republishes it on /data_mux/output.
To compile the NodeletMUX nodelet in your library, add something like:
(replace sensor_msgs::PointCloud2 with the message type of choice).
DEMUX
NodeletDEMUX represent a demux nodelet for topics: it takes 1 input topic, and publishes on N (<=8) output topics. One implementation of NodeletDEMUX can be found in pcl_ros.
Usage example:
1 <node pkg="nodelet" type="nodelet" name="pcl_manager" args="manager" output="screen" />
2 <!-- MUX the data onto one topic -->
3 <node pkg="nodelet" type="nodelet" name="data_demux" args="load pcl/NodeletDEMUX pcl_manager" output="screen">
4 <rosparam>
5 output_topics: [/output1, /output2]
6 </rosparam>
7 </node>
The above accepts data from /data_demux/input, and republishes it on /data_demux/output1 and /data_demux/output2.
To compile the NodeletDEMUX nodelet in your library, add something like:
(replace sensor_msgs::PointCloud2 with the message type of choice).
Throttle
New in Fuerte
NodeletThrottle can throttle a topic in a nodelet to a specified rate. Note that this tool is in the nodelet_topic_tools namespace.
Usage example:
1 <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager" output="screen" />
2
3 <node pkg="nodelet" type="nodelet" name="data_throttle" args="load my_pkg/NodeletThrottleImage nodelet_manager" output="screen">
4 <remap from="topic_in" to="camera/rgb/image_color"/>
5 <remap from="topic_out" to="camera/rgb/image_color_throttle"/>
6 </node>
To compile the NodeletThrottle nodelet in your library, add something like:
1 #include <nodelet_topic_tools/nodelet_throttle.h>
2 #include <sensor_msgs/Image.h>
3 #include <pluginlib/class_list_macros.h>
4
5 typedef nodelet_topic_tools::NodeletThrottle<sensor_msgs::Image> NodeletThrottleImage;
6 PLUGINLIB_DECLARE_CLASS (my_pkg, NodeletThrottleImage, NodeletThrottleImage, nodelet::Nodelet);
(replace sensor_msgs::Image with the message type of choice).