README.md

app_publisher

ROS topic publisher plugin for app_manager

app_manager plugins

app_publisher/rostopic_publisher_plugin: ROS topic publisher plugin

This plugin publishes ROS topic at the beginning or end of the app.

plugin_args: Plugin arguments

• start_topics: topic which is published at the beginning of app
  • name: name of the topic
  • pkg: package name of the message
  • type: type of the message
  • field: content of the message field
• stop_topics: topic which is published at the end of app
  • name: name of the topic
  • pkg: package name of the message
  • type: type of the message
  • field: content of the message field
  • cond: Decide to publish a topic depending on the app exit condition. success, failure, stop and timeout can be set.

launch_args: Plugin launch arguments

None

Sample plugin description

plugins
  - name: rostopic_publisher_plugin
    type: app_publisher/rostopic_publisher_plugin
    plugin_args:
      start_topics:
        - name: /test_bool
          pkg: std_msgs
          type: Bool
        - name: /test_polygon_stamped
          pkg: geometry_msgs
          type: PolygonStamped
          field:
            header:
              seq: 0
              stamp: now
              frame_id: test
            polygon:
              points:
                - x: 1
                  y: 0
                  z: 0
                - x: 0
                  y: 1
                  z: 0
                - x: 0
                  y: 0
                  z: 1
      stop_topics:
        - name: /test_cancel
          pkg: actionlib_msgs
          type: GoalID
          cond:
            - success
            - stopped