roscpp: Empty connection header topic

[tonybaltovski]

I am trying to use a driver that reads the name of the incoming topic from the connection header. When I publish data from a C++ node, it is always empty but when I use rostopic pub or python it works just fine. Is there a way to ensure the connection header is populated?

OS: Ubuntu 14.04

ROS:indigo 1.11.9

roscpp: 1.11.9-0trusty-20141029-0127-+0000

roscpp_core: 0.5.4-0trusty-20140724-0053-+0000

The subscriber is in C++ and is here

Here is the code in python and the C++ node

[wjwwood]

I can confirm what @tonybaltovski is describing, I used this package: https://github.com/wjwwood/conn_header_test

When listening (from C++) to a talker in Python I get something like this:

[INFO] [WallTime: 1420488403.278505] Publishing 'hello world 9' on topic '/chatter'
Header:
  callerid has value /talker_71570_1420488402228
  latching has value 0
  md5sum has value 992ce8a1687cec8c8bd883ec73ca41d1
  message_definition has value string data


  topic has value /chatter
  type has value std_msgs/String
[ INFO] [1420488403.292841000]: I heard: [hello world 9]

When the talker is C++, the topic filed is missing from the connection header:

[ INFO] [1420487965.160992000]: Publishing 'hello world 9' on topic '/chatter'
Header:
  callerid has value /talker
  latching has value 0
  md5sum has value 992ce8a1687cec8c8bd883ec73ca41d1
  message_definition has value string data

  type has value std_msgs/String
[ INFO] [1420487965.162136000]: I heard: [hello world 9]

I don't see anything in the documentation which indicates that this should be the case.

[gerkey]

Also, thanks much to @wjwwood for the easy-to-use test case.

[wjwwood]

Also, thanks much to @wjwwood for the easy-to-use test case.

Sure, no problem. Like my mom always said: "Do unto others".

[tonybaltovski]

Thanks guys!