Description
A topic tool that subscribes to one topic, and based on one of the message fields splits the topic into two. I can see this being useful for debugging and other uses, maybe not deployment runtime applications. An example is 2 lidars that publish to a single topic for use by a mapping node, but this tool could be used to temporarily split this into 2 topics for debugging and looking at just 1 of the lidars data at a time.
Completion Criteria
- A new Split node that splits a topic into multiple topics
Implementation Notes / Suggestions
I don't have any suggestions other than that I am happy to work on this if you feel it could be useful. I imagine implementation wise it would be a bit of a mix between demux for one input multi output, and transform for looking at a specific message field.
Testing Notes / Suggestions
An example test case could be a series of ros2 std_msgs/Header messages on a topic like /input. Each message with different timestamps and 1 of N frame_ids. Then the output of this node should be /output/N where N is the frame_id of the header message.
Description
A topic tool that subscribes to one topic, and based on one of the message fields splits the topic into two. I can see this being useful for debugging and other uses, maybe not deployment runtime applications. An example is 2 lidars that publish to a single topic for use by a mapping node, but this tool could be used to temporarily split this into 2 topics for debugging and looking at just 1 of the lidars data at a time.
Completion Criteria
Implementation Notes / Suggestions
I don't have any suggestions other than that I am happy to work on this if you feel it could be useful. I imagine implementation wise it would be a bit of a mix between demux for one input multi output, and transform for looking at a specific message field.
Testing Notes / Suggestions
An example test case could be a series of ros2 std_msgs/Header messages on a topic like /input. Each message with different timestamps and 1 of N frame_ids. Then the output of this node should be /output/N where N is the frame_id of the header message.