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1 | initial version |
One idea (not tested):
1) change the name of the outputs topics if node a (for example topic_1_a instead of topic_1), or remap the names (using a launch file)
2) use the relay node (http://wiki.ros.org/topic_tools/relay) to copy the content of topic_1_a into topic_1.
This way, you have all your data from topic one in separated topics, but you also have your "normal" topic with messages from all nodes.
You might do the same for node_b and group the messages in topic_x.