hershwg / multimux Goto Github PK

Grouped-input version of topic_tools/mux. Switches between sets of inputs.

Example:

rosrun multimux multimux --topics topic1 topic2 topic3 --input_prefixes prefix1 prefix2

This will subscribe to these topics:

/prefix1/topic1 /prefix1/topic2 /prefix1/topic3 /prefix2/topic1 /prefix2/topic2 /prefix2/topic3

and publish these topics:

/topic1 /topic2 /topic3

multimux supports the same set of service calls that topic_tools/mux does. The naming is a bit off, since those service definitions use the word "topic" to describe which is being selected, but in this case the prefix is what is being selected.

If you run this:

rosrun topic_tools mux_select mux /prefix2

then data received on the topics:

/prefix2/topic1 /prefix2/topic2 /prefix2/topic3

will be forwarded to the corresponding output topics.