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rosmod / webgme-rosmod

This repository contains ROSMOD developed for WebGME. ROSMOD is a web-based, collaborative, modeling and execution environment for distributed embedded applications built using ROS
MIT License
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Explore remapping of topics in a deployment #221

Closed AWatk closed 6 years ago

AWatk commented 6 years ago

To be truly modular, messages of the same type but different names among various components need to be "connectable". This allows development of specific software components that are application agnostic.

Example being a controller that publishes an init command of type std_msgs/Empty that is remapped to connect to an rnet can bus component that subscribes to an injectErrorFrames command of type std_msgs/Empty

Otherwise, the case now is that either the controller component must publish injectErrorFrames directly, and thus loses generality, or the rnet bus interface subscribes to init and its semantics does not match its function.

finger563 commented 6 years ago

need to look into running rosmod_actor with rosrun or roslaunch and see what else would be required to support remapping.

finger563 commented 6 years ago

Then would need to see how we might handle such remapping in the CommViz

finger563 commented 6 years ago

Can be accomplished by adding a similar Arguments as what's in the External Node which can be converted to <original>:=<new> command line args. have tested with existing rosmod_actor executable and it appears to work :)