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Subscribe multiple topics using fuzzy string matching?

asked 2020-11-27 16:04:05 -0600

runtao
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updated 2020-11-27 17:09:26 -0600

Hi, let's say I want to subscribe multiple topics in one node. All the topics are named with same prefix, such as "/prefix_topic_a","/prefix_topic_b","/prefix_topic_c"...

Since the amount is not fixed, a hard-coding of subscription topic cannot be used. Is there anyway to find all topics with a certain prefix and automatically create subscribers for each topic? maybe using fuzzy string matching? Thanks!

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answered 2020-11-28 01:39:52 -0600

miura

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It was interesting to me to check it out: https://answers.ros.org/question/2068... You can get a list of topics from the C++ code, as shown in If you can get the topics, you'll be able to make partial matches or create a subscriber from them.

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@miura, thanks, but it uses the master node in ROS1, which ROS2 dosen't have. How could the functionality be used in ROS2?

runtao ( 2020-11-28 04:35:47 -0600 )edit

For ROS2, it seems that get_topic_names_and_types can be used.

You can also use get_topic_names_and_types in ROS2. http://docs.ros2.org/bouncy/api/rclcp...

miura ( 2020-11-28 04:40:39 -0600 )edit

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Asked: 2020-11-27 16:04:05 -0600

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Last updated: Nov 28 '20

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Subscribe multiple topics using fuzzy string matching?