Multiple nodelets?

Question

I need to create an application that subscribes to messages from topic A and publishes to topic B based on the message received from A. While waiting for messages from A, it should publish default messages on B in the meantime. So in short, the publishing action to B should work independent of whether messages are received on A or not..

Is using the nodelets a good idea for this application? If so, how do I make two nodelets that share the same variables so that B process the variables received from A?

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Originally posted by devmax on ROS Answers with karma: 13 on 2012-09-22

Post score: 0

Answer 1

Unless you need to transfer a lot of data from one node to another there is basically no need to use nodelets.

The process you described is naturally organized by callback function specified as a parameter to subscribe method. By means of state variable in that callback you can modify published data in the main loop.

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Originally posted by Boris with karma: 3060 on 2012-09-23

This answer was ACCEPTED on the original site

Post score: 2