StealthRelay¶
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.
When ~input
and ~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.
Subscribing Topics¶
~input
(AnyMsg
)Incoming topic to be relayed
Publishing Topics¶
~output
(AnyMsg
, same type as~input
)Outgoing topic to publish on
Parameters¶
~use_multithread_callback
(bool
, default:True
)If
true
, initializeNodeHandle
with multi threading.~queue_size
(int
, default:1
)Queue size for subscription of the incoming topic.
~enable_monitor
(bool
, default:True
)If enabled, monitoring feature is enabled, otherwise this nodelet behaves as same as
Relay
nodelet.~monitor_topic
(string
, default:~input
)Topic name to monitor.
~monitor_rate
(double
, default:1.0
)Desired monitoring rate of subscribing messages of
~monitor_topic
.