How to create custom topic?
I want to create custom topic to visualize data from sensors.
Asked by roman7426 on 2018-07-11 08:34:03 UTC
Answers
Create a gazebo node:
gznode_ = gazebo::transport::NodePtr(new gazebo::transport::Node());
and advertise a new publisher:
pub = gznode_->Advertise<gazebo::msgs::"message_type">("custom_topic_name");
change "message_type" and custom_topic_name to your own needs. Now you can publish a message by:
pub->Publish(msg);
The types depend on the Gazebo Version you are using. For all versions < 9 you need to include:
#include "gazebo/transport/transport.hh"
and the variable declaration look like this:
gazebo::transport::NodePtr gznode_;
gazebo::transport::PublisherPtr pub;
Asked by wentz on 2018-07-23 07:37:21 UTC
Comments
Can you provide a bit more info? What type should gznode and pub be?
Asked by jc on 2018-08-14 12:49:01 UTC
I updated the Answer, hope that helps.
Asked by wentz on 2018-08-15 04:04:09 UTC
Comments