remap to part of message

Question

Hi. I have written my first node - a Quaternion to euler conversion node (using the tf library). The node subscribes to geometry_msgs::Quaternion and publishes geometry_msgs::Vector3.

I now want to connect this node to the quaternion part of a pose message that's published by another node.

So i used this command:

rosrun mypkg quat_to_euler_conv quaternion:=ground_truth/pose/orientation

because pose/orientation is of type geometry_msgs::Quaternion i think this should work. but it doesn't connect. using rostopic echo and pub i can make the node work fine though.

Is it maybe not possible to remap a topic to a message part of another topic?

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Originally posted by Orangelynx on ROS Answers with karma: 1 on 2016-06-21

Post score: 0

Answer 1

use toopic_tools: http://wiki.ros.org/topic_tools/transform

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Originally posted by AA with karma: 26 on 2017-03-16

This answer was ACCEPTED on the original site

Post score: 1

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Original comments

Comment by gvdhoorn on 2017-03-17:
To add to the answer of @AA:

Is it maybe not possible to remap a topic to a message part of another topic?

No, that is not possible. rostopic uses some tricks internally to allow this, but the regular remapping infrastructure does not support remapping parts of msgs.