jsk_topic_tools/Relay is a node/nodelet that subscribes to ~input topic and republishes all incoming data to ~output topic like topic_tools/Relay but has several additional features such as latch and lazy mode.

Subscribing Topics

  • ~input (AnyMsg)

    Incoming topic to be relayed

Publishing Topics

  • ~output (AnyMsg, same type as ~input)

    Outgoing topic to publish on


  • ~always_subscribe (bool, default: false)

    If true, it turns off its lazy mode, where the input topic is subscribed only when the output topic is subscribed.

  • ~latch (bool, default: false)

    If true, it publishes the output topic in latch mode.