jsk_topic_tools/StealthRelay is a node/nodelet that subscribes to
~input topic and republishes all incoming data to
~output topic like
topic_tools/Relay but only if
~monitor_topic topic is subscribed by any other nodes.
~monitor_topic topic name point to the same topic, it looks that this node subscribes
~input topic only when other nodes also subscribes it, which is equivalent to subscribing without incrementing subscription counter.
~monitor_topic can be set by rosparam and is set to
~input by default.
Incoming topic to be relayed
AnyMsg, same type as
Outgoing topic to publish on
NodeHandlewith multi threading.
Queue size for subscription of the incoming topic.
If enabled, monitoring feature is enabled, otherwise this nodelet behaves as same as
Topic name to monitor.
Desired monitoring rate of subscribing messages of