Subscribers specification

Each sensor requires a subscriber to receive data from the ROS2 topics. The subscribers are specified in the YAML configuration file as a sequence under the subscribers key. The parameters for each subscriber include:

• type: the type of subscriber (class name).

• package: the WOLF ROS2 package where this class is implemented (used to load the package in runtime).

• topic: the ROS2 topic to which the subscriber is subscribed.

• sensor_name: the name of the sensor to which this subscriber is attached.

• Other parameters specific to the subscriber type.

Note

Remember that the YAML templates contains all the parameters of each class and a brief doc. You can start from the templates and modify them to suit your needs. See more information in the YAML schema section.

The following is the part of the WOLF ROS2 application example configuration file, containing the subscribers specification.

subscribers:
  -
    package: "wolf_ros2_laser"
    type: "SubscriberLaser2d"
    topic: "/base_scan"
    sensor_name: "laser_scan"
    load_params_from_msg: true
  -
    package: "wolf_ros2_node"
    type: "SubscriberOdom2d"
    topic: "/odom"
    sensor_name: "sensor_odom"
    odom_from_pose: false