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According to the tutorial of "Using rqt_console and roslaunch", in the node of "mimic" of package "turtlesim", it remaps the topics "/input/pose" and "/output/command_velocity" by just remapping "input" to "/turtlesim1/turtle1" and "output" to "/turtlesim2/turtle1", which i.e. just remaps the base name of the topic rather than the global name.

However, it seems this method fails to work for the node of "turtle_teleop_key". In the launch file, I remap the topic "turtle1/command_veolcity" by remapping "turtle1" to "turtle2", but the topic lists still show "turtle1/command_velocity". When I fix the launch file by remapping "turtle1/command_velocity" to "turtle2/command_velocity", the topics lists finally show the change.

Can someone know figure out the difference between the base name and global name when remapping topics?

Thanks a lot


Originally posted by Dave Chen on ROS Answers with karma: 1 on 2013-12-27

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It depends on how the node is designed. If it is designed such that it remaps specific names. If the node internally uses a specific string and then builds the higherarchy below it they will remap with the higher level remapping. Otherwise you need to remap each element by its full name.


Originally posted by tfoote with karma: 58457 on 2013-12-27

This answer was ACCEPTED on the original site

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