Determine if another rosnode is subscribing to published topic?

asked 2012-10-17 06:20:22 -0600

PerkinsJames
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Is there a way for a publisher to check if another node is online and/or if the other node has established subscriptions to topics? (C++). I want to ensure that I don't send a configuration command if the subscriber has not yet subscribed.

I've seen this before that you can do this, but I don’t remember how.

Thanks!

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answered 2012-10-17 07:11:56 -0600

dornhege

31395 ●134 ●284 ●498

updated 2012-10-17 07:12:32 -0600

pub.getNumSubscribers() > 0

Depending on your application, consider a latched publisher.

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answered 2012-12-11 23:14:57 -0600

Benoit Larochelle

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If you cannot use a latch, this question is related: http://answers.ros.org/question/11167/how-do-i-publish-exactly-one-message/

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Determine if another rosnode is subscribing to published topic?

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