ROS Topic Publisher/Subscriber

Within a rqt Plugin GenericDomainModel, a ROS Topic Publisher or Subscriber is represented by a GenericDomainModelPort with the following Attributes.

Attributes	Value	Description
Type	topic
Attribute 0	[default topic name]	Default ROS Topic name
Attribute 1
Attribute 2	[msg type]	ROS Topic Msg Type - e.g. WrenchStamped
Attribute 7	ros

If the CyPhy Master Interpreter is run, these Attributes will be used to populate the parent rqt Plugin Model’s connected template file Resource.

For each netlist of connected ports, the Interpreter will check that the the port types all match (e.g. a ROS Topic Publisher cannot broadcast to a ROS Service Server) and that the Topic Msg types (if specified) all match.

If the port is connected to other ports, a unique ROS Topic name will be generated and assigned to ports in that netlist.

Otherwise, Attribute 0’s Value will be used.

The ROS Topic Publisher or ROS Topic Subscriber Port’s name is used as a key to populate the rqt Plugin Model’s connected template file Resource with the ROS Topic name.