Porblem Publishing Sonar and IR Data

Question

Hi all,

Not sure what's the matter here. If I use rostopic list, when my publisher has advertises Sonar messages I see /Sonar in the list. However if I try just the IR data it sometimes works most of the time not. The ad code is simply:

    // Sonar Range Test
    /*  bool publish_sonar = true;
n.param("publish_sonar", publish_sonar, publish_sonar);
ros::Publisher sonar_pub;

if(publish_sonar) 
{
    sonar_pub = n.advertise<sensor_msgs::Range>("Sonar", 1000);
}

    */  // IR Range Test
bool publish_ir = true;
n.param("publish_ir", publish_ir, publish_ir);
ros::Publisher ir_pub;

if(ir_pub) 
{
    ir_pub = n.advertise<sensor_msgs::Range>("InfraRed", 1000);
}

Any suggestions would me v welcome - I want my node to publish both at the end of the day. The TF for both works fine.

Many Thanks

Mark

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Originally posted by MarkyMark2012 on ROS Answers with karma: 1834 on 2012-07-20

Post score: 1

Answer 1

You probably want your IR if statement to be:

if(publish_ir)

not

if(ir_pub)

I would expect doing if(ros::Publisher) before it has been created using e.g. n.advertise to return false.

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Originally posted by Eric Perko with karma: 8406 on 2012-07-20

This answer was ACCEPTED on the original site

Post score: 2

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Original comments

Comment by MarkyMark2012 on 2012-07-22:
yes that was it. Thanks Eric