![]() |
cras_topic_tools package from cras_ros_utils repocamera_throttle cras_bag_tools cras_cpp_common cras_docs_common cras_py_common cras_topic_tools image_transport_codecs tf_static_publisher |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.5.1 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ctu-vras/ros-utils.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-04-22 |
Dev Status | DEVELOPED |
CI status |
|
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Martin Pecka
Authors
- Martin Pecka
cras_topic_tools
Nodes and nodeletes for safe and efficient manipulation with topics.
Mostly supplementing what is missing from topic_tools
and nodelet_topic_tools
.
Support and Build Status
This package is supported on Melodic and Noetic until their End of Life (and maybe later). It is occasionally tested with non-default GCC versions like Melodic+GCC8 or Noetic+GCC11.
Provided Nodes and Nodelets
Here is an overview of the provided nodes and nodelets. See their API docs for details.
Most of these nodes/nodelets are message-type-agnostic, but they may differ between messages that have or do not have a std_msgs/Header header
field.
-
change_header
: Allows modifying headers of messages (frame ID, timestamp). Usage. -
count_messages
: Count the number of received messages and make it available as a ROS parameter. Usage. -
filter
: (only node, no nodelet) Filter messages on a topic based on a Python expression. Usage. -
heartbeat
: Publishcras_msgs/Heartbeat
heartbeat of a topic. Usage. -
mux_replay
: (only node, no nodelet) Control amux
with a recording of its~selected
topic as if it were live. Usage. -
priority_mux
: Inspired bytwist_mux
, provides a hierarchical way of switching output topics. Works for all message types and for multiple output topics. Usage. -
relay
: Simple relay with the possibility of lazy subscription. Usage. -
repeat
: Increase the frequency of a topic (with various trigger modes etc.). Usage. -
throttle_messages
: Throttle down frequency of a topic - to an exact value, not using the imprecise algorithm fromtopic_tools throttle
. Usage.
A few convenience libraries for working with generic topics are also provided:
-
shape_shifter
: Easily get the buffer or header of aShapeShifter
message or convert a message toShapeShifter
. Also contains a safe-to-use version ofShapeShifter
for Melodic with fixed memory corruption problems. -
lazy_subscriber
: Base class for all lazy subscribers. -
generic_lazy_pub_sub
: Base implementation of a generic pair of publisher-subscriber of a type not known at compile type. -
priority_mux_base
: Base implementation ofpriority_mux
that can be used outside a nodelet.
Changelog for package cras_topic_tools
2.5.1 (2025-02-18)
2.5.0 (2025-02-13)
2.4.8 (2025-01-07)
- Added support for ros::message_traits operations on cras::ShapeShifter on Melodic.
- Contributors: Martin Pecka
2.4.7 (2024-12-12)
2.4.6 (2024-12-12)
2.4.5 (2024-11-02)
2.4.4 (2024-09-14)
2.4.3 (2024-09-14)
2.4.2 (2024-09-05)
2.4.1 (2024-09-04)
2.4.0 (2024-09-04)
- Little fixes suggested by linters.
- priority_mux: Added option to invert disable_topic.
- Contributors: Martin Pecka
2.3.9 (2024-02-27)
- Removed catkin_lint buildfarm hacks.
- Contributors: Martin Pecka
2.3.8 (2024-01-12)
2.3.7 (2024-01-09)
2.3.6 (2024-01-09)
- Made use of the simplified syntax of node_from_nodelet.
- Contributors: Martin Pecka
2.3.5 (2023-11-21)
2.3.4 (2023-10-25)
2.3.3 (2023-10-06)
- priority_mux: Fixed parameters incorrectly reported as required.
- Contributors: Martin Pecka
2.3.2 (2023-10-06)
- priority_mux: Duration of the wait before publishing the first message is now configurable.
- Contributors: Martin Pecka
2.3.1 (2023-07-13)
- shape_shifter: Fixed detection of header in messages.
- Contributors: Martin Pecka
2.3.0 (2023-07-12)
- priority_mux: Added possibility to send a message just before disabling a topic.
- shape_shifter: Improved getHeader().
- Increased minimum CMake version to 3.10.2.
- priority_mux: Total rewrite, now it should really work.
- Contributors: Martin Pecka
2.2.3 (2023-06-16)
2.2.2 (2023-05-15)
2.2.1 (2023-05-15)
2.2.0 (2023-04-09)
- Added heartbeat.
- Simplified lazy subscriber classes and nodelet code. Added
~tcp_no_delay param to most nodelets. API breaks included, but
hopefully nothing will be affected. API breaks:
- LazySubscriberBase->ConditionalSubscriber
- LazySubscriber: callback is now passed as parameter instead of being a virtual member function
- GenericLazyPubSub: callback is now passed as parameter instead of being a virtual member function
- the nodelets no longer have a dedicated PubSub object that would be reusable elsewhere (the minimum probability of reuse does not outweigh the code complications it brings)
- Contributors: Martin Pecka
2.1.2 (2023-02-10)
2.1.1 (2023-02-08)
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
cras_msgs | |
nodelet | |
rosbag | |
std_msgs | |
topic_tools | |
catkin | |
cras_py_common | |
rospy | |
geometry_msgs | |
roslaunch | |
roslint | |
rostest | |
rostopic | |
cras_cpp_common | |
roscpp |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged cras_topic_tools at Robotics Stack Exchange
![]() |
cras_topic_tools package from cras_ros_utils repocamera_throttle cras_bag_tools cras_cpp_common cras_docs_common cras_py_common cras_topic_tools image_transport_codecs tf_static_publisher |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.5.1 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ctu-vras/ros-utils.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-04-22 |
Dev Status | DEVELOPED |
CI status |
|
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Martin Pecka
Authors
- Martin Pecka
cras_topic_tools
Nodes and nodeletes for safe and efficient manipulation with topics.
Mostly supplementing what is missing from topic_tools
and nodelet_topic_tools
.
Support and Build Status
This package is supported on Melodic and Noetic until their End of Life (and maybe later). It is occasionally tested with non-default GCC versions like Melodic+GCC8 or Noetic+GCC11.
Provided Nodes and Nodelets
Here is an overview of the provided nodes and nodelets. See their API docs for details.
Most of these nodes/nodelets are message-type-agnostic, but they may differ between messages that have or do not have a std_msgs/Header header
field.
-
change_header
: Allows modifying headers of messages (frame ID, timestamp). Usage. -
count_messages
: Count the number of received messages and make it available as a ROS parameter. Usage. -
filter
: (only node, no nodelet) Filter messages on a topic based on a Python expression. Usage. -
heartbeat
: Publishcras_msgs/Heartbeat
heartbeat of a topic. Usage. -
mux_replay
: (only node, no nodelet) Control amux
with a recording of its~selected
topic as if it were live. Usage. -
priority_mux
: Inspired bytwist_mux
, provides a hierarchical way of switching output topics. Works for all message types and for multiple output topics. Usage. -
relay
: Simple relay with the possibility of lazy subscription. Usage. -
repeat
: Increase the frequency of a topic (with various trigger modes etc.). Usage. -
throttle_messages
: Throttle down frequency of a topic - to an exact value, not using the imprecise algorithm fromtopic_tools throttle
. Usage.
A few convenience libraries for working with generic topics are also provided:
-
shape_shifter
: Easily get the buffer or header of aShapeShifter
message or convert a message toShapeShifter
. Also contains a safe-to-use version ofShapeShifter
for Melodic with fixed memory corruption problems. -
lazy_subscriber
: Base class for all lazy subscribers. -
generic_lazy_pub_sub
: Base implementation of a generic pair of publisher-subscriber of a type not known at compile type. -
priority_mux_base
: Base implementation ofpriority_mux
that can be used outside a nodelet.
Changelog for package cras_topic_tools
2.5.1 (2025-02-18)
2.5.0 (2025-02-13)
2.4.8 (2025-01-07)
- Added support for ros::message_traits operations on cras::ShapeShifter on Melodic.
- Contributors: Martin Pecka
2.4.7 (2024-12-12)
2.4.6 (2024-12-12)
2.4.5 (2024-11-02)
2.4.4 (2024-09-14)
2.4.3 (2024-09-14)
2.4.2 (2024-09-05)
2.4.1 (2024-09-04)
2.4.0 (2024-09-04)
- Little fixes suggested by linters.
- priority_mux: Added option to invert disable_topic.
- Contributors: Martin Pecka
2.3.9 (2024-02-27)
- Removed catkin_lint buildfarm hacks.
- Contributors: Martin Pecka
2.3.8 (2024-01-12)
2.3.7 (2024-01-09)
2.3.6 (2024-01-09)
- Made use of the simplified syntax of node_from_nodelet.
- Contributors: Martin Pecka
2.3.5 (2023-11-21)
2.3.4 (2023-10-25)
2.3.3 (2023-10-06)
- priority_mux: Fixed parameters incorrectly reported as required.
- Contributors: Martin Pecka
2.3.2 (2023-10-06)
- priority_mux: Duration of the wait before publishing the first message is now configurable.
- Contributors: Martin Pecka
2.3.1 (2023-07-13)
- shape_shifter: Fixed detection of header in messages.
- Contributors: Martin Pecka
2.3.0 (2023-07-12)
- priority_mux: Added possibility to send a message just before disabling a topic.
- shape_shifter: Improved getHeader().
- Increased minimum CMake version to 3.10.2.
- priority_mux: Total rewrite, now it should really work.
- Contributors: Martin Pecka
2.2.3 (2023-06-16)
2.2.2 (2023-05-15)
2.2.1 (2023-05-15)
2.2.0 (2023-04-09)
- Added heartbeat.
- Simplified lazy subscriber classes and nodelet code. Added
~tcp_no_delay param to most nodelets. API breaks included, but
hopefully nothing will be affected. API breaks:
- LazySubscriberBase->ConditionalSubscriber
- LazySubscriber: callback is now passed as parameter instead of being a virtual member function
- GenericLazyPubSub: callback is now passed as parameter instead of being a virtual member function
- the nodelets no longer have a dedicated PubSub object that would be reusable elsewhere (the minimum probability of reuse does not outweigh the code complications it brings)
- Contributors: Martin Pecka
2.1.2 (2023-02-10)
2.1.1 (2023-02-08)
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
cras_msgs | |
nodelet | |
rosbag | |
std_msgs | |
topic_tools | |
catkin | |
cras_py_common | |
rospy | |
geometry_msgs | |
roslaunch | |
roslint | |
rostest | |
rostopic | |
cras_cpp_common | |
roscpp |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged cras_topic_tools at Robotics Stack Exchange
![]() |
cras_topic_tools package from cras_ros_utils repocamera_throttle cras_bag_tools cras_cpp_common cras_docs_common cras_py_common cras_topic_tools image_transport_codecs tf_static_publisher |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.5.1 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ctu-vras/ros-utils.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-04-22 |
Dev Status | DEVELOPED |
CI status |
|
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Martin Pecka
Authors
- Martin Pecka
cras_topic_tools
Nodes and nodeletes for safe and efficient manipulation with topics.
Mostly supplementing what is missing from topic_tools
and nodelet_topic_tools
.
Support and Build Status
This package is supported on Melodic and Noetic until their End of Life (and maybe later). It is occasionally tested with non-default GCC versions like Melodic+GCC8 or Noetic+GCC11.
Provided Nodes and Nodelets
Here is an overview of the provided nodes and nodelets. See their API docs for details.
Most of these nodes/nodelets are message-type-agnostic, but they may differ between messages that have or do not have a std_msgs/Header header
field.
-
change_header
: Allows modifying headers of messages (frame ID, timestamp). Usage. -
count_messages
: Count the number of received messages and make it available as a ROS parameter. Usage. -
filter
: (only node, no nodelet) Filter messages on a topic based on a Python expression. Usage. -
heartbeat
: Publishcras_msgs/Heartbeat
heartbeat of a topic. Usage. -
mux_replay
: (only node, no nodelet) Control amux
with a recording of its~selected
topic as if it were live. Usage. -
priority_mux
: Inspired bytwist_mux
, provides a hierarchical way of switching output topics. Works for all message types and for multiple output topics. Usage. -
relay
: Simple relay with the possibility of lazy subscription. Usage. -
repeat
: Increase the frequency of a topic (with various trigger modes etc.). Usage. -
throttle_messages
: Throttle down frequency of a topic - to an exact value, not using the imprecise algorithm fromtopic_tools throttle
. Usage.
A few convenience libraries for working with generic topics are also provided:
-
shape_shifter
: Easily get the buffer or header of aShapeShifter
message or convert a message toShapeShifter
. Also contains a safe-to-use version ofShapeShifter
for Melodic with fixed memory corruption problems. -
lazy_subscriber
: Base class for all lazy subscribers. -
generic_lazy_pub_sub
: Base implementation of a generic pair of publisher-subscriber of a type not known at compile type. -
priority_mux_base
: Base implementation ofpriority_mux
that can be used outside a nodelet.
Changelog for package cras_topic_tools
2.5.1 (2025-02-18)
2.5.0 (2025-02-13)
2.4.8 (2025-01-07)
- Added support for ros::message_traits operations on cras::ShapeShifter on Melodic.
- Contributors: Martin Pecka
2.4.7 (2024-12-12)
2.4.6 (2024-12-12)
2.4.5 (2024-11-02)
2.4.4 (2024-09-14)
2.4.3 (2024-09-14)
2.4.2 (2024-09-05)
2.4.1 (2024-09-04)
2.4.0 (2024-09-04)
- Little fixes suggested by linters.
- priority_mux: Added option to invert disable_topic.
- Contributors: Martin Pecka
2.3.9 (2024-02-27)
- Removed catkin_lint buildfarm hacks.
- Contributors: Martin Pecka
2.3.8 (2024-01-12)
2.3.7 (2024-01-09)
2.3.6 (2024-01-09)
- Made use of the simplified syntax of node_from_nodelet.
- Contributors: Martin Pecka
2.3.5 (2023-11-21)
2.3.4 (2023-10-25)
2.3.3 (2023-10-06)
- priority_mux: Fixed parameters incorrectly reported as required.
- Contributors: Martin Pecka
2.3.2 (2023-10-06)
- priority_mux: Duration of the wait before publishing the first message is now configurable.
- Contributors: Martin Pecka
2.3.1 (2023-07-13)
- shape_shifter: Fixed detection of header in messages.
- Contributors: Martin Pecka
2.3.0 (2023-07-12)
- priority_mux: Added possibility to send a message just before disabling a topic.
- shape_shifter: Improved getHeader().
- Increased minimum CMake version to 3.10.2.
- priority_mux: Total rewrite, now it should really work.
- Contributors: Martin Pecka
2.2.3 (2023-06-16)
2.2.2 (2023-05-15)
2.2.1 (2023-05-15)
2.2.0 (2023-04-09)
- Added heartbeat.
- Simplified lazy subscriber classes and nodelet code. Added
~tcp_no_delay param to most nodelets. API breaks included, but
hopefully nothing will be affected. API breaks:
- LazySubscriberBase->ConditionalSubscriber
- LazySubscriber: callback is now passed as parameter instead of being a virtual member function
- GenericLazyPubSub: callback is now passed as parameter instead of being a virtual member function
- the nodelets no longer have a dedicated PubSub object that would be reusable elsewhere (the minimum probability of reuse does not outweigh the code complications it brings)
- Contributors: Martin Pecka
2.1.2 (2023-02-10)
2.1.1 (2023-02-08)
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
cras_msgs | |
nodelet | |
rosbag | |
std_msgs | |
topic_tools | |
catkin | |
cras_py_common | |
rospy | |
geometry_msgs | |
roslaunch | |
roslint | |
rostest | |
rostopic | |
cras_cpp_common | |
roscpp |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged cras_topic_tools at Robotics Stack Exchange
![]() |
cras_topic_tools package from cras_ros_utils repocamera_throttle cras_bag_tools cras_cpp_common cras_docs_common cras_py_common cras_topic_tools image_transport_codecs tf_static_publisher |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.5.1 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ctu-vras/ros-utils.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-04-22 |
Dev Status | DEVELOPED |
CI status |
|
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Martin Pecka
Authors
- Martin Pecka
cras_topic_tools
Nodes and nodeletes for safe and efficient manipulation with topics.
Mostly supplementing what is missing from topic_tools
and nodelet_topic_tools
.
Support and Build Status
This package is supported on Melodic and Noetic until their End of Life (and maybe later). It is occasionally tested with non-default GCC versions like Melodic+GCC8 or Noetic+GCC11.
Provided Nodes and Nodelets
Here is an overview of the provided nodes and nodelets. See their API docs for details.
Most of these nodes/nodelets are message-type-agnostic, but they may differ between messages that have or do not have a std_msgs/Header header
field.
-
change_header
: Allows modifying headers of messages (frame ID, timestamp). Usage. -
count_messages
: Count the number of received messages and make it available as a ROS parameter. Usage. -
filter
: (only node, no nodelet) Filter messages on a topic based on a Python expression. Usage. -
heartbeat
: Publishcras_msgs/Heartbeat
heartbeat of a topic. Usage. -
mux_replay
: (only node, no nodelet) Control amux
with a recording of its~selected
topic as if it were live. Usage. -
priority_mux
: Inspired bytwist_mux
, provides a hierarchical way of switching output topics. Works for all message types and for multiple output topics. Usage. -
relay
: Simple relay with the possibility of lazy subscription. Usage. -
repeat
: Increase the frequency of a topic (with various trigger modes etc.). Usage. -
throttle_messages
: Throttle down frequency of a topic - to an exact value, not using the imprecise algorithm fromtopic_tools throttle
. Usage.
A few convenience libraries for working with generic topics are also provided:
-
shape_shifter
: Easily get the buffer or header of aShapeShifter
message or convert a message toShapeShifter
. Also contains a safe-to-use version ofShapeShifter
for Melodic with fixed memory corruption problems. -
lazy_subscriber
: Base class for all lazy subscribers. -
generic_lazy_pub_sub
: Base implementation of a generic pair of publisher-subscriber of a type not known at compile type. -
priority_mux_base
: Base implementation ofpriority_mux
that can be used outside a nodelet.
Changelog for package cras_topic_tools
2.5.1 (2025-02-18)
2.5.0 (2025-02-13)
2.4.8 (2025-01-07)
- Added support for ros::message_traits operations on cras::ShapeShifter on Melodic.
- Contributors: Martin Pecka
2.4.7 (2024-12-12)
2.4.6 (2024-12-12)
2.4.5 (2024-11-02)
2.4.4 (2024-09-14)
2.4.3 (2024-09-14)
2.4.2 (2024-09-05)
2.4.1 (2024-09-04)
2.4.0 (2024-09-04)
- Little fixes suggested by linters.
- priority_mux: Added option to invert disable_topic.
- Contributors: Martin Pecka
2.3.9 (2024-02-27)
- Removed catkin_lint buildfarm hacks.
- Contributors: Martin Pecka
2.3.8 (2024-01-12)
2.3.7 (2024-01-09)
2.3.6 (2024-01-09)
- Made use of the simplified syntax of node_from_nodelet.
- Contributors: Martin Pecka
2.3.5 (2023-11-21)
2.3.4 (2023-10-25)
2.3.3 (2023-10-06)
- priority_mux: Fixed parameters incorrectly reported as required.
- Contributors: Martin Pecka
2.3.2 (2023-10-06)
- priority_mux: Duration of the wait before publishing the first message is now configurable.
- Contributors: Martin Pecka
2.3.1 (2023-07-13)
- shape_shifter: Fixed detection of header in messages.
- Contributors: Martin Pecka
2.3.0 (2023-07-12)
- priority_mux: Added possibility to send a message just before disabling a topic.
- shape_shifter: Improved getHeader().
- Increased minimum CMake version to 3.10.2.
- priority_mux: Total rewrite, now it should really work.
- Contributors: Martin Pecka
2.2.3 (2023-06-16)
2.2.2 (2023-05-15)
2.2.1 (2023-05-15)
2.2.0 (2023-04-09)
- Added heartbeat.
- Simplified lazy subscriber classes and nodelet code. Added
~tcp_no_delay param to most nodelets. API breaks included, but
hopefully nothing will be affected. API breaks:
- LazySubscriberBase->ConditionalSubscriber
- LazySubscriber: callback is now passed as parameter instead of being a virtual member function
- GenericLazyPubSub: callback is now passed as parameter instead of being a virtual member function
- the nodelets no longer have a dedicated PubSub object that would be reusable elsewhere (the minimum probability of reuse does not outweigh the code complications it brings)
- Contributors: Martin Pecka
2.1.2 (2023-02-10)
2.1.1 (2023-02-08)
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
cras_msgs | |
nodelet | |
rosbag | |
std_msgs | |
topic_tools | |
catkin | |
cras_py_common | |
rospy | |
geometry_msgs | |
roslaunch | |
roslint | |
rostest | |
rostopic | |
cras_cpp_common | |
roscpp |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged cras_topic_tools at Robotics Stack Exchange
![]() |
cras_topic_tools package from cras_ros_utils repocamera_throttle cras_bag_tools cras_cpp_common cras_docs_common cras_py_common cras_topic_tools image_transport_codecs tf_static_publisher |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.5.1 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ctu-vras/ros-utils.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-04-22 |
Dev Status | DEVELOPED |
CI status |
|
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Martin Pecka
Authors
- Martin Pecka
cras_topic_tools
Nodes and nodeletes for safe and efficient manipulation with topics.
Mostly supplementing what is missing from topic_tools
and nodelet_topic_tools
.
Support and Build Status
This package is supported on Melodic and Noetic until their End of Life (and maybe later). It is occasionally tested with non-default GCC versions like Melodic+GCC8 or Noetic+GCC11.
Provided Nodes and Nodelets
Here is an overview of the provided nodes and nodelets. See their API docs for details.
Most of these nodes/nodelets are message-type-agnostic, but they may differ between messages that have or do not have a std_msgs/Header header
field.
-
change_header
: Allows modifying headers of messages (frame ID, timestamp). Usage. -
count_messages
: Count the number of received messages and make it available as a ROS parameter. Usage. -
filter
: (only node, no nodelet) Filter messages on a topic based on a Python expression. Usage. -
heartbeat
: Publishcras_msgs/Heartbeat
heartbeat of a topic. Usage. -
mux_replay
: (only node, no nodelet) Control amux
with a recording of its~selected
topic as if it were live. Usage. -
priority_mux
: Inspired bytwist_mux
, provides a hierarchical way of switching output topics. Works for all message types and for multiple output topics. Usage. -
relay
: Simple relay with the possibility of lazy subscription. Usage. -
repeat
: Increase the frequency of a topic (with various trigger modes etc.). Usage. -
throttle_messages
: Throttle down frequency of a topic - to an exact value, not using the imprecise algorithm fromtopic_tools throttle
. Usage.
A few convenience libraries for working with generic topics are also provided:
-
shape_shifter
: Easily get the buffer or header of aShapeShifter
message or convert a message toShapeShifter
. Also contains a safe-to-use version ofShapeShifter
for Melodic with fixed memory corruption problems. -
lazy_subscriber
: Base class for all lazy subscribers. -
generic_lazy_pub_sub
: Base implementation of a generic pair of publisher-subscriber of a type not known at compile type. -
priority_mux_base
: Base implementation ofpriority_mux
that can be used outside a nodelet.
Changelog for package cras_topic_tools
2.5.1 (2025-02-18)
2.5.0 (2025-02-13)
2.4.8 (2025-01-07)
- Added support for ros::message_traits operations on cras::ShapeShifter on Melodic.
- Contributors: Martin Pecka
2.4.7 (2024-12-12)
2.4.6 (2024-12-12)
2.4.5 (2024-11-02)
2.4.4 (2024-09-14)
2.4.3 (2024-09-14)
2.4.2 (2024-09-05)
2.4.1 (2024-09-04)
2.4.0 (2024-09-04)
- Little fixes suggested by linters.
- priority_mux: Added option to invert disable_topic.
- Contributors: Martin Pecka
2.3.9 (2024-02-27)
- Removed catkin_lint buildfarm hacks.
- Contributors: Martin Pecka
2.3.8 (2024-01-12)
2.3.7 (2024-01-09)
2.3.6 (2024-01-09)
- Made use of the simplified syntax of node_from_nodelet.
- Contributors: Martin Pecka
2.3.5 (2023-11-21)
2.3.4 (2023-10-25)
2.3.3 (2023-10-06)
- priority_mux: Fixed parameters incorrectly reported as required.
- Contributors: Martin Pecka
2.3.2 (2023-10-06)
- priority_mux: Duration of the wait before publishing the first message is now configurable.
- Contributors: Martin Pecka
2.3.1 (2023-07-13)
- shape_shifter: Fixed detection of header in messages.
- Contributors: Martin Pecka
2.3.0 (2023-07-12)
- priority_mux: Added possibility to send a message just before disabling a topic.
- shape_shifter: Improved getHeader().
- Increased minimum CMake version to 3.10.2.
- priority_mux: Total rewrite, now it should really work.
- Contributors: Martin Pecka
2.2.3 (2023-06-16)
2.2.2 (2023-05-15)
2.2.1 (2023-05-15)
2.2.0 (2023-04-09)
- Added heartbeat.
- Simplified lazy subscriber classes and nodelet code. Added
~tcp_no_delay param to most nodelets. API breaks included, but
hopefully nothing will be affected. API breaks:
- LazySubscriberBase->ConditionalSubscriber
- LazySubscriber: callback is now passed as parameter instead of being a virtual member function
- GenericLazyPubSub: callback is now passed as parameter instead of being a virtual member function
- the nodelets no longer have a dedicated PubSub object that would be reusable elsewhere (the minimum probability of reuse does not outweigh the code complications it brings)
- Contributors: Martin Pecka
2.1.2 (2023-02-10)
2.1.1 (2023-02-08)
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
cras_msgs | |
nodelet | |
rosbag | |
std_msgs | |
topic_tools | |
catkin | |
cras_py_common | |
rospy | |
geometry_msgs | |
roslaunch | |
roslint | |
rostest | |
rostopic | |
cras_cpp_common | |
roscpp |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged cras_topic_tools at Robotics Stack Exchange
![]() |
cras_topic_tools package from cras_ros_utils repocamera_throttle cras_bag_tools cras_cpp_common cras_docs_common cras_py_common cras_topic_tools image_transport_codecs tf_static_publisher |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.5.1 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ctu-vras/ros-utils.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-04-22 |
Dev Status | DEVELOPED |
CI status |
|
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Martin Pecka
Authors
- Martin Pecka
cras_topic_tools
Nodes and nodeletes for safe and efficient manipulation with topics.
Mostly supplementing what is missing from topic_tools
and nodelet_topic_tools
.
Support and Build Status
This package is supported on Melodic and Noetic until their End of Life (and maybe later). It is occasionally tested with non-default GCC versions like Melodic+GCC8 or Noetic+GCC11.
Provided Nodes and Nodelets
Here is an overview of the provided nodes and nodelets. See their API docs for details.
Most of these nodes/nodelets are message-type-agnostic, but they may differ between messages that have or do not have a std_msgs/Header header
field.
-
change_header
: Allows modifying headers of messages (frame ID, timestamp). Usage. -
count_messages
: Count the number of received messages and make it available as a ROS parameter. Usage. -
filter
: (only node, no nodelet) Filter messages on a topic based on a Python expression. Usage. -
heartbeat
: Publishcras_msgs/Heartbeat
heartbeat of a topic. Usage. -
mux_replay
: (only node, no nodelet) Control amux
with a recording of its~selected
topic as if it were live. Usage. -
priority_mux
: Inspired bytwist_mux
, provides a hierarchical way of switching output topics. Works for all message types and for multiple output topics. Usage. -
relay
: Simple relay with the possibility of lazy subscription. Usage. -
repeat
: Increase the frequency of a topic (with various trigger modes etc.). Usage. -
throttle_messages
: Throttle down frequency of a topic - to an exact value, not using the imprecise algorithm fromtopic_tools throttle
. Usage.
A few convenience libraries for working with generic topics are also provided:
-
shape_shifter
: Easily get the buffer or header of aShapeShifter
message or convert a message toShapeShifter
. Also contains a safe-to-use version ofShapeShifter
for Melodic with fixed memory corruption problems. -
lazy_subscriber
: Base class for all lazy subscribers. -
generic_lazy_pub_sub
: Base implementation of a generic pair of publisher-subscriber of a type not known at compile type. -
priority_mux_base
: Base implementation ofpriority_mux
that can be used outside a nodelet.
Changelog for package cras_topic_tools
2.5.1 (2025-02-18)
2.5.0 (2025-02-13)
2.4.8 (2025-01-07)
- Added support for ros::message_traits operations on cras::ShapeShifter on Melodic.
- Contributors: Martin Pecka
2.4.7 (2024-12-12)
2.4.6 (2024-12-12)
2.4.5 (2024-11-02)
2.4.4 (2024-09-14)
2.4.3 (2024-09-14)
2.4.2 (2024-09-05)
2.4.1 (2024-09-04)
2.4.0 (2024-09-04)
- Little fixes suggested by linters.
- priority_mux: Added option to invert disable_topic.
- Contributors: Martin Pecka
2.3.9 (2024-02-27)
- Removed catkin_lint buildfarm hacks.
- Contributors: Martin Pecka
2.3.8 (2024-01-12)
2.3.7 (2024-01-09)
2.3.6 (2024-01-09)
- Made use of the simplified syntax of node_from_nodelet.
- Contributors: Martin Pecka
2.3.5 (2023-11-21)
2.3.4 (2023-10-25)
2.3.3 (2023-10-06)
- priority_mux: Fixed parameters incorrectly reported as required.
- Contributors: Martin Pecka
2.3.2 (2023-10-06)
- priority_mux: Duration of the wait before publishing the first message is now configurable.
- Contributors: Martin Pecka
2.3.1 (2023-07-13)
- shape_shifter: Fixed detection of header in messages.
- Contributors: Martin Pecka
2.3.0 (2023-07-12)
- priority_mux: Added possibility to send a message just before disabling a topic.
- shape_shifter: Improved getHeader().
- Increased minimum CMake version to 3.10.2.
- priority_mux: Total rewrite, now it should really work.
- Contributors: Martin Pecka
2.2.3 (2023-06-16)
2.2.2 (2023-05-15)
2.2.1 (2023-05-15)
2.2.0 (2023-04-09)
- Added heartbeat.
- Simplified lazy subscriber classes and nodelet code. Added
~tcp_no_delay param to most nodelets. API breaks included, but
hopefully nothing will be affected. API breaks:
- LazySubscriberBase->ConditionalSubscriber
- LazySubscriber: callback is now passed as parameter instead of being a virtual member function
- GenericLazyPubSub: callback is now passed as parameter instead of being a virtual member function
- the nodelets no longer have a dedicated PubSub object that would be reusable elsewhere (the minimum probability of reuse does not outweigh the code complications it brings)
- Contributors: Martin Pecka
2.1.2 (2023-02-10)
2.1.1 (2023-02-08)
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
cras_msgs | |
nodelet | |
rosbag | |
std_msgs | |
topic_tools | |
catkin | |
cras_py_common | |
rospy | |
geometry_msgs | |
roslaunch | |
roslint | |
rostest | |
rostopic | |
cras_cpp_common | |
roscpp |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged cras_topic_tools at Robotics Stack Exchange
![]() |
cras_topic_tools package from cras_ros_utils repocamera_throttle cras_bag_tools cras_cpp_common cras_docs_common cras_py_common cras_topic_tools image_transport_codecs tf_static_publisher |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.5.1 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ctu-vras/ros-utils.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-04-22 |
Dev Status | DEVELOPED |
CI status |
|
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Martin Pecka
Authors
- Martin Pecka
cras_topic_tools
Nodes and nodeletes for safe and efficient manipulation with topics.
Mostly supplementing what is missing from topic_tools
and nodelet_topic_tools
.
Support and Build Status
This package is supported on Melodic and Noetic until their End of Life (and maybe later). It is occasionally tested with non-default GCC versions like Melodic+GCC8 or Noetic+GCC11.
Provided Nodes and Nodelets
Here is an overview of the provided nodes and nodelets. See their API docs for details.
Most of these nodes/nodelets are message-type-agnostic, but they may differ between messages that have or do not have a std_msgs/Header header
field.
-
change_header
: Allows modifying headers of messages (frame ID, timestamp). Usage. -
count_messages
: Count the number of received messages and make it available as a ROS parameter. Usage. -
filter
: (only node, no nodelet) Filter messages on a topic based on a Python expression. Usage. -
heartbeat
: Publishcras_msgs/Heartbeat
heartbeat of a topic. Usage. -
mux_replay
: (only node, no nodelet) Control amux
with a recording of its~selected
topic as if it were live. Usage. -
priority_mux
: Inspired bytwist_mux
, provides a hierarchical way of switching output topics. Works for all message types and for multiple output topics. Usage. -
relay
: Simple relay with the possibility of lazy subscription. Usage. -
repeat
: Increase the frequency of a topic (with various trigger modes etc.). Usage. -
throttle_messages
: Throttle down frequency of a topic - to an exact value, not using the imprecise algorithm fromtopic_tools throttle
. Usage.
A few convenience libraries for working with generic topics are also provided:
-
shape_shifter
: Easily get the buffer or header of aShapeShifter
message or convert a message toShapeShifter
. Also contains a safe-to-use version ofShapeShifter
for Melodic with fixed memory corruption problems. -
lazy_subscriber
: Base class for all lazy subscribers. -
generic_lazy_pub_sub
: Base implementation of a generic pair of publisher-subscriber of a type not known at compile type. -
priority_mux_base
: Base implementation ofpriority_mux
that can be used outside a nodelet.
Changelog for package cras_topic_tools
2.5.1 (2025-02-18)
2.5.0 (2025-02-13)
2.4.8 (2025-01-07)
- Added support for ros::message_traits operations on cras::ShapeShifter on Melodic.
- Contributors: Martin Pecka
2.4.7 (2024-12-12)
2.4.6 (2024-12-12)
2.4.5 (2024-11-02)
2.4.4 (2024-09-14)
2.4.3 (2024-09-14)
2.4.2 (2024-09-05)
2.4.1 (2024-09-04)
2.4.0 (2024-09-04)
- Little fixes suggested by linters.
- priority_mux: Added option to invert disable_topic.
- Contributors: Martin Pecka
2.3.9 (2024-02-27)
- Removed catkin_lint buildfarm hacks.
- Contributors: Martin Pecka
2.3.8 (2024-01-12)
2.3.7 (2024-01-09)
2.3.6 (2024-01-09)
- Made use of the simplified syntax of node_from_nodelet.
- Contributors: Martin Pecka
2.3.5 (2023-11-21)
2.3.4 (2023-10-25)
2.3.3 (2023-10-06)
- priority_mux: Fixed parameters incorrectly reported as required.
- Contributors: Martin Pecka
2.3.2 (2023-10-06)
- priority_mux: Duration of the wait before publishing the first message is now configurable.
- Contributors: Martin Pecka
2.3.1 (2023-07-13)
- shape_shifter: Fixed detection of header in messages.
- Contributors: Martin Pecka
2.3.0 (2023-07-12)
- priority_mux: Added possibility to send a message just before disabling a topic.
- shape_shifter: Improved getHeader().
- Increased minimum CMake version to 3.10.2.
- priority_mux: Total rewrite, now it should really work.
- Contributors: Martin Pecka
2.2.3 (2023-06-16)
2.2.2 (2023-05-15)
2.2.1 (2023-05-15)
2.2.0 (2023-04-09)
- Added heartbeat.
- Simplified lazy subscriber classes and nodelet code. Added
~tcp_no_delay param to most nodelets. API breaks included, but
hopefully nothing will be affected. API breaks:
- LazySubscriberBase->ConditionalSubscriber
- LazySubscriber: callback is now passed as parameter instead of being a virtual member function
- GenericLazyPubSub: callback is now passed as parameter instead of being a virtual member function
- the nodelets no longer have a dedicated PubSub object that would be reusable elsewhere (the minimum probability of reuse does not outweigh the code complications it brings)
- Contributors: Martin Pecka
2.1.2 (2023-02-10)
2.1.1 (2023-02-08)
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
cras_msgs | |
nodelet | |
rosbag | |
std_msgs | |
topic_tools | |
catkin | |
cras_py_common | |
rospy | |
geometry_msgs | |
roslaunch | |
roslint | |
rostest | |
rostopic | |
cras_cpp_common | |
roscpp |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged cras_topic_tools at Robotics Stack Exchange
![]() |
cras_topic_tools package from cras_ros_utils repocamera_throttle cras_bag_tools cras_cpp_common cras_docs_common cras_py_common cras_topic_tools image_transport_codecs tf_static_publisher |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.5.1 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ctu-vras/ros-utils.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-04-22 |
Dev Status | DEVELOPED |
CI status |
|
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Martin Pecka
Authors
- Martin Pecka
cras_topic_tools
Nodes and nodeletes for safe and efficient manipulation with topics.
Mostly supplementing what is missing from topic_tools
and nodelet_topic_tools
.
Support and Build Status
This package is supported on Melodic and Noetic until their End of Life (and maybe later). It is occasionally tested with non-default GCC versions like Melodic+GCC8 or Noetic+GCC11.
Provided Nodes and Nodelets
Here is an overview of the provided nodes and nodelets. See their API docs for details.
Most of these nodes/nodelets are message-type-agnostic, but they may differ between messages that have or do not have a std_msgs/Header header
field.
-
change_header
: Allows modifying headers of messages (frame ID, timestamp). Usage. -
count_messages
: Count the number of received messages and make it available as a ROS parameter. Usage. -
filter
: (only node, no nodelet) Filter messages on a topic based on a Python expression. Usage. -
heartbeat
: Publishcras_msgs/Heartbeat
heartbeat of a topic. Usage. -
mux_replay
: (only node, no nodelet) Control amux
with a recording of its~selected
topic as if it were live. Usage. -
priority_mux
: Inspired bytwist_mux
, provides a hierarchical way of switching output topics. Works for all message types and for multiple output topics. Usage. -
relay
: Simple relay with the possibility of lazy subscription. Usage. -
repeat
: Increase the frequency of a topic (with various trigger modes etc.). Usage. -
throttle_messages
: Throttle down frequency of a topic - to an exact value, not using the imprecise algorithm fromtopic_tools throttle
. Usage.
A few convenience libraries for working with generic topics are also provided:
-
shape_shifter
: Easily get the buffer or header of aShapeShifter
message or convert a message toShapeShifter
. Also contains a safe-to-use version ofShapeShifter
for Melodic with fixed memory corruption problems. -
lazy_subscriber
: Base class for all lazy subscribers. -
generic_lazy_pub_sub
: Base implementation of a generic pair of publisher-subscriber of a type not known at compile type. -
priority_mux_base
: Base implementation ofpriority_mux
that can be used outside a nodelet.
Changelog for package cras_topic_tools
2.5.1 (2025-02-18)
2.5.0 (2025-02-13)
2.4.8 (2025-01-07)
- Added support for ros::message_traits operations on cras::ShapeShifter on Melodic.
- Contributors: Martin Pecka
2.4.7 (2024-12-12)
2.4.6 (2024-12-12)
2.4.5 (2024-11-02)
2.4.4 (2024-09-14)
2.4.3 (2024-09-14)
2.4.2 (2024-09-05)
2.4.1 (2024-09-04)
2.4.0 (2024-09-04)
- Little fixes suggested by linters.
- priority_mux: Added option to invert disable_topic.
- Contributors: Martin Pecka
2.3.9 (2024-02-27)
- Removed catkin_lint buildfarm hacks.
- Contributors: Martin Pecka
2.3.8 (2024-01-12)
2.3.7 (2024-01-09)
2.3.6 (2024-01-09)
- Made use of the simplified syntax of node_from_nodelet.
- Contributors: Martin Pecka
2.3.5 (2023-11-21)
2.3.4 (2023-10-25)
2.3.3 (2023-10-06)
- priority_mux: Fixed parameters incorrectly reported as required.
- Contributors: Martin Pecka
2.3.2 (2023-10-06)
- priority_mux: Duration of the wait before publishing the first message is now configurable.
- Contributors: Martin Pecka
2.3.1 (2023-07-13)
- shape_shifter: Fixed detection of header in messages.
- Contributors: Martin Pecka
2.3.0 (2023-07-12)
- priority_mux: Added possibility to send a message just before disabling a topic.
- shape_shifter: Improved getHeader().
- Increased minimum CMake version to 3.10.2.
- priority_mux: Total rewrite, now it should really work.
- Contributors: Martin Pecka
2.2.3 (2023-06-16)
2.2.2 (2023-05-15)
2.2.1 (2023-05-15)
2.2.0 (2023-04-09)
- Added heartbeat.
- Simplified lazy subscriber classes and nodelet code. Added
~tcp_no_delay param to most nodelets. API breaks included, but
hopefully nothing will be affected. API breaks:
- LazySubscriberBase->ConditionalSubscriber
- LazySubscriber: callback is now passed as parameter instead of being a virtual member function
- GenericLazyPubSub: callback is now passed as parameter instead of being a virtual member function
- the nodelets no longer have a dedicated PubSub object that would be reusable elsewhere (the minimum probability of reuse does not outweigh the code complications it brings)
- Contributors: Martin Pecka
2.1.2 (2023-02-10)
2.1.1 (2023-02-08)
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
cras_msgs | |
nodelet | |
rosbag | |
std_msgs | |
topic_tools | |
catkin | |
cras_py_common | |
rospy | |
geometry_msgs | |
roslaunch | |
roslint | |
rostest | |
rostopic | |
cras_cpp_common | |
roscpp |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged cras_topic_tools at Robotics Stack Exchange
![]() |
cras_topic_tools package from cras_ros_utils repocamera_throttle cras_bag_tools cras_cpp_common cras_docs_common cras_py_common cras_topic_tools image_transport_codecs tf_static_publisher |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.5.1 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ctu-vras/ros-utils.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-04-22 |
Dev Status | DEVELOPED |
CI status |
|
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Martin Pecka
Authors
- Martin Pecka
cras_topic_tools
Nodes and nodeletes for safe and efficient manipulation with topics.
Mostly supplementing what is missing from topic_tools
and nodelet_topic_tools
.
Support and Build Status
This package is supported on Melodic and Noetic until their End of Life (and maybe later). It is occasionally tested with non-default GCC versions like Melodic+GCC8 or Noetic+GCC11.
Provided Nodes and Nodelets
Here is an overview of the provided nodes and nodelets. See their API docs for details.
Most of these nodes/nodelets are message-type-agnostic, but they may differ between messages that have or do not have a std_msgs/Header header
field.
-
change_header
: Allows modifying headers of messages (frame ID, timestamp). Usage. -
count_messages
: Count the number of received messages and make it available as a ROS parameter. Usage. -
filter
: (only node, no nodelet) Filter messages on a topic based on a Python expression. Usage. -
heartbeat
: Publishcras_msgs/Heartbeat
heartbeat of a topic. Usage. -
mux_replay
: (only node, no nodelet) Control amux
with a recording of its~selected
topic as if it were live. Usage. -
priority_mux
: Inspired bytwist_mux
, provides a hierarchical way of switching output topics. Works for all message types and for multiple output topics. Usage. -
relay
: Simple relay with the possibility of lazy subscription. Usage. -
repeat
: Increase the frequency of a topic (with various trigger modes etc.). Usage. -
throttle_messages
: Throttle down frequency of a topic - to an exact value, not using the imprecise algorithm fromtopic_tools throttle
. Usage.
A few convenience libraries for working with generic topics are also provided:
-
shape_shifter
: Easily get the buffer or header of aShapeShifter
message or convert a message toShapeShifter
. Also contains a safe-to-use version ofShapeShifter
for Melodic with fixed memory corruption problems. -
lazy_subscriber
: Base class for all lazy subscribers. -
generic_lazy_pub_sub
: Base implementation of a generic pair of publisher-subscriber of a type not known at compile type. -
priority_mux_base
: Base implementation ofpriority_mux
that can be used outside a nodelet.
Changelog for package cras_topic_tools
2.5.1 (2025-02-18)
2.5.0 (2025-02-13)
2.4.8 (2025-01-07)
- Added support for ros::message_traits operations on cras::ShapeShifter on Melodic.
- Contributors: Martin Pecka
2.4.7 (2024-12-12)
2.4.6 (2024-12-12)
2.4.5 (2024-11-02)
2.4.4 (2024-09-14)
2.4.3 (2024-09-14)
2.4.2 (2024-09-05)
2.4.1 (2024-09-04)
2.4.0 (2024-09-04)
- Little fixes suggested by linters.
- priority_mux: Added option to invert disable_topic.
- Contributors: Martin Pecka
2.3.9 (2024-02-27)
- Removed catkin_lint buildfarm hacks.
- Contributors: Martin Pecka
2.3.8 (2024-01-12)
2.3.7 (2024-01-09)
2.3.6 (2024-01-09)
- Made use of the simplified syntax of node_from_nodelet.
- Contributors: Martin Pecka
2.3.5 (2023-11-21)
2.3.4 (2023-10-25)
2.3.3 (2023-10-06)
- priority_mux: Fixed parameters incorrectly reported as required.
- Contributors: Martin Pecka
2.3.2 (2023-10-06)
- priority_mux: Duration of the wait before publishing the first message is now configurable.
- Contributors: Martin Pecka
2.3.1 (2023-07-13)
- shape_shifter: Fixed detection of header in messages.
- Contributors: Martin Pecka
2.3.0 (2023-07-12)
- priority_mux: Added possibility to send a message just before disabling a topic.
- shape_shifter: Improved getHeader().
- Increased minimum CMake version to 3.10.2.
- priority_mux: Total rewrite, now it should really work.
- Contributors: Martin Pecka
2.2.3 (2023-06-16)
2.2.2 (2023-05-15)
2.2.1 (2023-05-15)
2.2.0 (2023-04-09)
- Added heartbeat.
- Simplified lazy subscriber classes and nodelet code. Added
~tcp_no_delay param to most nodelets. API breaks included, but
hopefully nothing will be affected. API breaks:
- LazySubscriberBase->ConditionalSubscriber
- LazySubscriber: callback is now passed as parameter instead of being a virtual member function
- GenericLazyPubSub: callback is now passed as parameter instead of being a virtual member function
- the nodelets no longer have a dedicated PubSub object that would be reusable elsewhere (the minimum probability of reuse does not outweigh the code complications it brings)
- Contributors: Martin Pecka
2.1.2 (2023-02-10)
2.1.1 (2023-02-08)
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
cras_msgs | |
nodelet | |
rosbag | |
std_msgs | |
topic_tools | |
catkin | |
cras_py_common | |
rospy | |
geometry_msgs | |
roslaunch | |
roslint | |
rostest | |
rostopic | |
cras_cpp_common | |
roscpp |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged cras_topic_tools at Robotics Stack Exchange
![]() |
cras_topic_tools package from cras_ros_utils repocamera_throttle cras_bag_tools cras_cpp_common cras_docs_common cras_py_common cras_topic_tools image_transport_codecs tf_static_publisher |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.5.1 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ctu-vras/ros-utils.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-04-22 |
Dev Status | DEVELOPED |
CI status |
|
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Martin Pecka
Authors
- Martin Pecka
cras_topic_tools
Nodes and nodeletes for safe and efficient manipulation with topics.
Mostly supplementing what is missing from topic_tools
and nodelet_topic_tools
.
Support and Build Status
This package is supported on Melodic and Noetic until their End of Life (and maybe later). It is occasionally tested with non-default GCC versions like Melodic+GCC8 or Noetic+GCC11.
Provided Nodes and Nodelets
Here is an overview of the provided nodes and nodelets. See their API docs for details.
Most of these nodes/nodelets are message-type-agnostic, but they may differ between messages that have or do not have a std_msgs/Header header
field.
-
change_header
: Allows modifying headers of messages (frame ID, timestamp). Usage. -
count_messages
: Count the number of received messages and make it available as a ROS parameter. Usage. -
filter
: (only node, no nodelet) Filter messages on a topic based on a Python expression. Usage. -
heartbeat
: Publishcras_msgs/Heartbeat
heartbeat of a topic. Usage. -
mux_replay
: (only node, no nodelet) Control amux
with a recording of its~selected
topic as if it were live. Usage. -
priority_mux
: Inspired bytwist_mux
, provides a hierarchical way of switching output topics. Works for all message types and for multiple output topics. Usage. -
relay
: Simple relay with the possibility of lazy subscription. Usage. -
repeat
: Increase the frequency of a topic (with various trigger modes etc.). Usage. -
throttle_messages
: Throttle down frequency of a topic - to an exact value, not using the imprecise algorithm fromtopic_tools throttle
. Usage.
A few convenience libraries for working with generic topics are also provided:
-
shape_shifter
: Easily get the buffer or header of aShapeShifter
message or convert a message toShapeShifter
. Also contains a safe-to-use version ofShapeShifter
for Melodic with fixed memory corruption problems. -
lazy_subscriber
: Base class for all lazy subscribers. -
generic_lazy_pub_sub
: Base implementation of a generic pair of publisher-subscriber of a type not known at compile type. -
priority_mux_base
: Base implementation ofpriority_mux
that can be used outside a nodelet.
Changelog for package cras_topic_tools
2.5.1 (2025-02-18)
2.5.0 (2025-02-13)
2.4.8 (2025-01-07)
- Added support for ros::message_traits operations on cras::ShapeShifter on Melodic.
- Contributors: Martin Pecka
2.4.7 (2024-12-12)
2.4.6 (2024-12-12)
2.4.5 (2024-11-02)
2.4.4 (2024-09-14)
2.4.3 (2024-09-14)
2.4.2 (2024-09-05)
2.4.1 (2024-09-04)
2.4.0 (2024-09-04)
- Little fixes suggested by linters.
- priority_mux: Added option to invert disable_topic.
- Contributors: Martin Pecka
2.3.9 (2024-02-27)
- Removed catkin_lint buildfarm hacks.
- Contributors: Martin Pecka
2.3.8 (2024-01-12)
2.3.7 (2024-01-09)
2.3.6 (2024-01-09)
- Made use of the simplified syntax of node_from_nodelet.
- Contributors: Martin Pecka
2.3.5 (2023-11-21)
2.3.4 (2023-10-25)
2.3.3 (2023-10-06)
- priority_mux: Fixed parameters incorrectly reported as required.
- Contributors: Martin Pecka
2.3.2 (2023-10-06)
- priority_mux: Duration of the wait before publishing the first message is now configurable.
- Contributors: Martin Pecka
2.3.1 (2023-07-13)
- shape_shifter: Fixed detection of header in messages.
- Contributors: Martin Pecka
2.3.0 (2023-07-12)
- priority_mux: Added possibility to send a message just before disabling a topic.
- shape_shifter: Improved getHeader().
- Increased minimum CMake version to 3.10.2.
- priority_mux: Total rewrite, now it should really work.
- Contributors: Martin Pecka
2.2.3 (2023-06-16)
2.2.2 (2023-05-15)
2.2.1 (2023-05-15)
2.2.0 (2023-04-09)
- Added heartbeat.
- Simplified lazy subscriber classes and nodelet code. Added
~tcp_no_delay param to most nodelets. API breaks included, but
hopefully nothing will be affected. API breaks:
- LazySubscriberBase->ConditionalSubscriber
- LazySubscriber: callback is now passed as parameter instead of being a virtual member function
- GenericLazyPubSub: callback is now passed as parameter instead of being a virtual member function
- the nodelets no longer have a dedicated PubSub object that would be reusable elsewhere (the minimum probability of reuse does not outweigh the code complications it brings)
- Contributors: Martin Pecka
2.1.2 (2023-02-10)
2.1.1 (2023-02-08)
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
cras_msgs | |
nodelet | |
rosbag | |
std_msgs | |
topic_tools | |
catkin | |
cras_py_common | |
rospy | |
geometry_msgs | |
roslaunch | |
roslint | |
rostest | |
rostopic | |
cras_cpp_common | |
roscpp |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged cras_topic_tools at Robotics Stack Exchange
![]() |
cras_topic_tools package from cras_ros_utils repocamera_throttle cras_bag_tools cras_cpp_common cras_docs_common cras_py_common cras_topic_tools image_transport_codecs tf_static_publisher |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.5.1 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ctu-vras/ros-utils.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-04-22 |
Dev Status | DEVELOPED |
CI status |
|
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Martin Pecka
Authors
- Martin Pecka
cras_topic_tools
Nodes and nodeletes for safe and efficient manipulation with topics.
Mostly supplementing what is missing from topic_tools
and nodelet_topic_tools
.
Support and Build Status
This package is supported on Melodic and Noetic until their End of Life (and maybe later). It is occasionally tested with non-default GCC versions like Melodic+GCC8 or Noetic+GCC11.
Provided Nodes and Nodelets
Here is an overview of the provided nodes and nodelets. See their API docs for details.
Most of these nodes/nodelets are message-type-agnostic, but they may differ between messages that have or do not have a std_msgs/Header header
field.
-
change_header
: Allows modifying headers of messages (frame ID, timestamp). Usage. -
count_messages
: Count the number of received messages and make it available as a ROS parameter. Usage. -
filter
: (only node, no nodelet) Filter messages on a topic based on a Python expression. Usage. -
heartbeat
: Publishcras_msgs/Heartbeat
heartbeat of a topic. Usage. -
mux_replay
: (only node, no nodelet) Control amux
with a recording of its~selected
topic as if it were live. Usage. -
priority_mux
: Inspired bytwist_mux
, provides a hierarchical way of switching output topics. Works for all message types and for multiple output topics. Usage. -
relay
: Simple relay with the possibility of lazy subscription. Usage. -
repeat
: Increase the frequency of a topic (with various trigger modes etc.). Usage. -
throttle_messages
: Throttle down frequency of a topic - to an exact value, not using the imprecise algorithm fromtopic_tools throttle
. Usage.
A few convenience libraries for working with generic topics are also provided:
-
shape_shifter
: Easily get the buffer or header of aShapeShifter
message or convert a message toShapeShifter
. Also contains a safe-to-use version ofShapeShifter
for Melodic with fixed memory corruption problems. -
lazy_subscriber
: Base class for all lazy subscribers. -
generic_lazy_pub_sub
: Base implementation of a generic pair of publisher-subscriber of a type not known at compile type. -
priority_mux_base
: Base implementation ofpriority_mux
that can be used outside a nodelet.
Changelog for package cras_topic_tools
2.5.1 (2025-02-18)
2.5.0 (2025-02-13)
2.4.8 (2025-01-07)
- Added support for ros::message_traits operations on cras::ShapeShifter on Melodic.
- Contributors: Martin Pecka
2.4.7 (2024-12-12)
2.4.6 (2024-12-12)
2.4.5 (2024-11-02)
2.4.4 (2024-09-14)
2.4.3 (2024-09-14)
2.4.2 (2024-09-05)
2.4.1 (2024-09-04)
2.4.0 (2024-09-04)
- Little fixes suggested by linters.
- priority_mux: Added option to invert disable_topic.
- Contributors: Martin Pecka
2.3.9 (2024-02-27)
- Removed catkin_lint buildfarm hacks.
- Contributors: Martin Pecka
2.3.8 (2024-01-12)
2.3.7 (2024-01-09)
2.3.6 (2024-01-09)
- Made use of the simplified syntax of node_from_nodelet.
- Contributors: Martin Pecka
2.3.5 (2023-11-21)
2.3.4 (2023-10-25)
2.3.3 (2023-10-06)
- priority_mux: Fixed parameters incorrectly reported as required.
- Contributors: Martin Pecka
2.3.2 (2023-10-06)
- priority_mux: Duration of the wait before publishing the first message is now configurable.
- Contributors: Martin Pecka
2.3.1 (2023-07-13)
- shape_shifter: Fixed detection of header in messages.
- Contributors: Martin Pecka
2.3.0 (2023-07-12)
- priority_mux: Added possibility to send a message just before disabling a topic.
- shape_shifter: Improved getHeader().
- Increased minimum CMake version to 3.10.2.
- priority_mux: Total rewrite, now it should really work.
- Contributors: Martin Pecka
2.2.3 (2023-06-16)
2.2.2 (2023-05-15)
2.2.1 (2023-05-15)
2.2.0 (2023-04-09)
- Added heartbeat.
- Simplified lazy subscriber classes and nodelet code. Added
~tcp_no_delay param to most nodelets. API breaks included, but
hopefully nothing will be affected. API breaks:
- LazySubscriberBase->ConditionalSubscriber
- LazySubscriber: callback is now passed as parameter instead of being a virtual member function
- GenericLazyPubSub: callback is now passed as parameter instead of being a virtual member function
- the nodelets no longer have a dedicated PubSub object that would be reusable elsewhere (the minimum probability of reuse does not outweigh the code complications it brings)
- Contributors: Martin Pecka
2.1.2 (2023-02-10)
2.1.1 (2023-02-08)
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
cras_msgs | |
nodelet | |
rosbag | |
std_msgs | |
topic_tools | |
catkin | |
cras_py_common | |
rospy | |
geometry_msgs | |
roslaunch | |
roslint | |
rostest | |
rostopic | |
cras_cpp_common | |
roscpp |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged cras_topic_tools at Robotics Stack Exchange
![]() |
cras_topic_tools package from cras_ros_utils repocamera_throttle cras_bag_tools cras_cpp_common cras_docs_common cras_py_common cras_topic_tools image_transport_codecs tf_static_publisher |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.5.1 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ctu-vras/ros-utils.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-04-22 |
Dev Status | DEVELOPED |
CI status |
|
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Martin Pecka
Authors
- Martin Pecka
cras_topic_tools
Nodes and nodeletes for safe and efficient manipulation with topics.
Mostly supplementing what is missing from topic_tools
and nodelet_topic_tools
.
Support and Build Status
This package is supported on Melodic and Noetic until their End of Life (and maybe later). It is occasionally tested with non-default GCC versions like Melodic+GCC8 or Noetic+GCC11.
Provided Nodes and Nodelets
Here is an overview of the provided nodes and nodelets. See their API docs for details.
Most of these nodes/nodelets are message-type-agnostic, but they may differ between messages that have or do not have a std_msgs/Header header
field.
-
change_header
: Allows modifying headers of messages (frame ID, timestamp). Usage. -
count_messages
: Count the number of received messages and make it available as a ROS parameter. Usage. -
filter
: (only node, no nodelet) Filter messages on a topic based on a Python expression. Usage. -
heartbeat
: Publishcras_msgs/Heartbeat
heartbeat of a topic. Usage. -
mux_replay
: (only node, no nodelet) Control amux
with a recording of its~selected
topic as if it were live. Usage. -
priority_mux
: Inspired bytwist_mux
, provides a hierarchical way of switching output topics. Works for all message types and for multiple output topics. Usage. -
relay
: Simple relay with the possibility of lazy subscription. Usage. -
repeat
: Increase the frequency of a topic (with various trigger modes etc.). Usage. -
throttle_messages
: Throttle down frequency of a topic - to an exact value, not using the imprecise algorithm fromtopic_tools throttle
. Usage.
A few convenience libraries for working with generic topics are also provided:
-
shape_shifter
: Easily get the buffer or header of aShapeShifter
message or convert a message toShapeShifter
. Also contains a safe-to-use version ofShapeShifter
for Melodic with fixed memory corruption problems. -
lazy_subscriber
: Base class for all lazy subscribers. -
generic_lazy_pub_sub
: Base implementation of a generic pair of publisher-subscriber of a type not known at compile type. -
priority_mux_base
: Base implementation ofpriority_mux
that can be used outside a nodelet.
Changelog for package cras_topic_tools
2.5.1 (2025-02-18)
2.5.0 (2025-02-13)
2.4.8 (2025-01-07)
- Added support for ros::message_traits operations on cras::ShapeShifter on Melodic.
- Contributors: Martin Pecka
2.4.7 (2024-12-12)
2.4.6 (2024-12-12)
2.4.5 (2024-11-02)
2.4.4 (2024-09-14)
2.4.3 (2024-09-14)
2.4.2 (2024-09-05)
2.4.1 (2024-09-04)
2.4.0 (2024-09-04)
- Little fixes suggested by linters.
- priority_mux: Added option to invert disable_topic.
- Contributors: Martin Pecka
2.3.9 (2024-02-27)
- Removed catkin_lint buildfarm hacks.
- Contributors: Martin Pecka
2.3.8 (2024-01-12)
2.3.7 (2024-01-09)
2.3.6 (2024-01-09)
- Made use of the simplified syntax of node_from_nodelet.
- Contributors: Martin Pecka
2.3.5 (2023-11-21)
2.3.4 (2023-10-25)
2.3.3 (2023-10-06)
- priority_mux: Fixed parameters incorrectly reported as required.
- Contributors: Martin Pecka
2.3.2 (2023-10-06)
- priority_mux: Duration of the wait before publishing the first message is now configurable.
- Contributors: Martin Pecka
2.3.1 (2023-07-13)
- shape_shifter: Fixed detection of header in messages.
- Contributors: Martin Pecka
2.3.0 (2023-07-12)
- priority_mux: Added possibility to send a message just before disabling a topic.
- shape_shifter: Improved getHeader().
- Increased minimum CMake version to 3.10.2.
- priority_mux: Total rewrite, now it should really work.
- Contributors: Martin Pecka
2.2.3 (2023-06-16)
2.2.2 (2023-05-15)
2.2.1 (2023-05-15)
2.2.0 (2023-04-09)
- Added heartbeat.
- Simplified lazy subscriber classes and nodelet code. Added
~tcp_no_delay param to most nodelets. API breaks included, but
hopefully nothing will be affected. API breaks:
- LazySubscriberBase->ConditionalSubscriber
- LazySubscriber: callback is now passed as parameter instead of being a virtual member function
- GenericLazyPubSub: callback is now passed as parameter instead of being a virtual member function
- the nodelets no longer have a dedicated PubSub object that would be reusable elsewhere (the minimum probability of reuse does not outweigh the code complications it brings)
- Contributors: Martin Pecka
2.1.2 (2023-02-10)
2.1.1 (2023-02-08)
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
cras_msgs | |
nodelet | |
rosbag | |
std_msgs | |
topic_tools | |
catkin | |
cras_py_common | |
rospy | |
geometry_msgs | |
roslaunch | |
roslint | |
rostest | |
rostopic | |
cras_cpp_common | |
roscpp |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged cras_topic_tools at Robotics Stack Exchange
![]() |
cras_topic_tools package from cras_ros_utils repocamera_throttle cras_bag_tools cras_cpp_common cras_docs_common cras_py_common cras_topic_tools image_transport_codecs tf_static_publisher |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.5.1 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ctu-vras/ros-utils.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-04-22 |
Dev Status | DEVELOPED |
CI status |
|
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Martin Pecka
Authors
- Martin Pecka
cras_topic_tools
Nodes and nodeletes for safe and efficient manipulation with topics.
Mostly supplementing what is missing from topic_tools
and nodelet_topic_tools
.
Support and Build Status
This package is supported on Melodic and Noetic until their End of Life (and maybe later). It is occasionally tested with non-default GCC versions like Melodic+GCC8 or Noetic+GCC11.
Provided Nodes and Nodelets
Here is an overview of the provided nodes and nodelets. See their API docs for details.
Most of these nodes/nodelets are message-type-agnostic, but they may differ between messages that have or do not have a std_msgs/Header header
field.
-
change_header
: Allows modifying headers of messages (frame ID, timestamp). Usage. -
count_messages
: Count the number of received messages and make it available as a ROS parameter. Usage. -
filter
: (only node, no nodelet) Filter messages on a topic based on a Python expression. Usage. -
heartbeat
: Publishcras_msgs/Heartbeat
heartbeat of a topic. Usage. -
mux_replay
: (only node, no nodelet) Control amux
with a recording of its~selected
topic as if it were live. Usage. -
priority_mux
: Inspired bytwist_mux
, provides a hierarchical way of switching output topics. Works for all message types and for multiple output topics. Usage. -
relay
: Simple relay with the possibility of lazy subscription. Usage. -
repeat
: Increase the frequency of a topic (with various trigger modes etc.). Usage. -
throttle_messages
: Throttle down frequency of a topic - to an exact value, not using the imprecise algorithm fromtopic_tools throttle
. Usage.
A few convenience libraries for working with generic topics are also provided:
-
shape_shifter
: Easily get the buffer or header of aShapeShifter
message or convert a message toShapeShifter
. Also contains a safe-to-use version ofShapeShifter
for Melodic with fixed memory corruption problems. -
lazy_subscriber
: Base class for all lazy subscribers. -
generic_lazy_pub_sub
: Base implementation of a generic pair of publisher-subscriber of a type not known at compile type. -
priority_mux_base
: Base implementation ofpriority_mux
that can be used outside a nodelet.
Changelog for package cras_topic_tools
2.5.1 (2025-02-18)
2.5.0 (2025-02-13)
2.4.8 (2025-01-07)
- Added support for ros::message_traits operations on cras::ShapeShifter on Melodic.
- Contributors: Martin Pecka
2.4.7 (2024-12-12)
2.4.6 (2024-12-12)
2.4.5 (2024-11-02)
2.4.4 (2024-09-14)
2.4.3 (2024-09-14)
2.4.2 (2024-09-05)
2.4.1 (2024-09-04)
2.4.0 (2024-09-04)
- Little fixes suggested by linters.
- priority_mux: Added option to invert disable_topic.
- Contributors: Martin Pecka
2.3.9 (2024-02-27)
- Removed catkin_lint buildfarm hacks.
- Contributors: Martin Pecka
2.3.8 (2024-01-12)
2.3.7 (2024-01-09)
2.3.6 (2024-01-09)
- Made use of the simplified syntax of node_from_nodelet.
- Contributors: Martin Pecka
2.3.5 (2023-11-21)
2.3.4 (2023-10-25)
2.3.3 (2023-10-06)
- priority_mux: Fixed parameters incorrectly reported as required.
- Contributors: Martin Pecka
2.3.2 (2023-10-06)
- priority_mux: Duration of the wait before publishing the first message is now configurable.
- Contributors: Martin Pecka
2.3.1 (2023-07-13)
- shape_shifter: Fixed detection of header in messages.
- Contributors: Martin Pecka
2.3.0 (2023-07-12)
- priority_mux: Added possibility to send a message just before disabling a topic.
- shape_shifter: Improved getHeader().
- Increased minimum CMake version to 3.10.2.
- priority_mux: Total rewrite, now it should really work.
- Contributors: Martin Pecka
2.2.3 (2023-06-16)
2.2.2 (2023-05-15)
2.2.1 (2023-05-15)
2.2.0 (2023-04-09)
- Added heartbeat.
- Simplified lazy subscriber classes and nodelet code. Added
~tcp_no_delay param to most nodelets. API breaks included, but
hopefully nothing will be affected. API breaks:
- LazySubscriberBase->ConditionalSubscriber
- LazySubscriber: callback is now passed as parameter instead of being a virtual member function
- GenericLazyPubSub: callback is now passed as parameter instead of being a virtual member function
- the nodelets no longer have a dedicated PubSub object that would be reusable elsewhere (the minimum probability of reuse does not outweigh the code complications it brings)
- Contributors: Martin Pecka
2.1.2 (2023-02-10)
2.1.1 (2023-02-08)
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
cras_msgs | |
nodelet | |
rosbag | |
std_msgs | |
topic_tools | |
catkin | |
cras_py_common | |
rospy | |
geometry_msgs | |
roslaunch | |
roslint | |
rostest | |
rostopic | |
cras_cpp_common | |
roscpp |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged cras_topic_tools at Robotics Stack Exchange
![]() |
cras_topic_tools package from cras_ros_utils repocamera_throttle cras_bag_tools cras_cpp_common cras_docs_common cras_py_common cras_topic_tools image_transport_codecs tf_static_publisher |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.5.1 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ctu-vras/ros-utils.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-04-22 |
Dev Status | DEVELOPED |
CI status |
|
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Martin Pecka
Authors
- Martin Pecka
cras_topic_tools
Nodes and nodeletes for safe and efficient manipulation with topics.
Mostly supplementing what is missing from topic_tools
and nodelet_topic_tools
.
Support and Build Status
This package is supported on Melodic and Noetic until their End of Life (and maybe later). It is occasionally tested with non-default GCC versions like Melodic+GCC8 or Noetic+GCC11.
Provided Nodes and Nodelets
Here is an overview of the provided nodes and nodelets. See their API docs for details.
Most of these nodes/nodelets are message-type-agnostic, but they may differ between messages that have or do not have a std_msgs/Header header
field.
-
change_header
: Allows modifying headers of messages (frame ID, timestamp). Usage. -
count_messages
: Count the number of received messages and make it available as a ROS parameter. Usage. -
filter
: (only node, no nodelet) Filter messages on a topic based on a Python expression. Usage. -
heartbeat
: Publishcras_msgs/Heartbeat
heartbeat of a topic. Usage. -
mux_replay
: (only node, no nodelet) Control amux
with a recording of its~selected
topic as if it were live. Usage. -
priority_mux
: Inspired bytwist_mux
, provides a hierarchical way of switching output topics. Works for all message types and for multiple output topics. Usage. -
relay
: Simple relay with the possibility of lazy subscription. Usage. -
repeat
: Increase the frequency of a topic (with various trigger modes etc.). Usage. -
throttle_messages
: Throttle down frequency of a topic - to an exact value, not using the imprecise algorithm fromtopic_tools throttle
. Usage.
A few convenience libraries for working with generic topics are also provided:
-
shape_shifter
: Easily get the buffer or header of aShapeShifter
message or convert a message toShapeShifter
. Also contains a safe-to-use version ofShapeShifter
for Melodic with fixed memory corruption problems. -
lazy_subscriber
: Base class for all lazy subscribers. -
generic_lazy_pub_sub
: Base implementation of a generic pair of publisher-subscriber of a type not known at compile type. -
priority_mux_base
: Base implementation ofpriority_mux
that can be used outside a nodelet.
Changelog for package cras_topic_tools
2.5.1 (2025-02-18)
2.5.0 (2025-02-13)
2.4.8 (2025-01-07)
- Added support for ros::message_traits operations on cras::ShapeShifter on Melodic.
- Contributors: Martin Pecka
2.4.7 (2024-12-12)
2.4.6 (2024-12-12)
2.4.5 (2024-11-02)
2.4.4 (2024-09-14)
2.4.3 (2024-09-14)
2.4.2 (2024-09-05)
2.4.1 (2024-09-04)
2.4.0 (2024-09-04)
- Little fixes suggested by linters.
- priority_mux: Added option to invert disable_topic.
- Contributors: Martin Pecka
2.3.9 (2024-02-27)
- Removed catkin_lint buildfarm hacks.
- Contributors: Martin Pecka
2.3.8 (2024-01-12)
2.3.7 (2024-01-09)
2.3.6 (2024-01-09)
- Made use of the simplified syntax of node_from_nodelet.
- Contributors: Martin Pecka
2.3.5 (2023-11-21)
2.3.4 (2023-10-25)
2.3.3 (2023-10-06)
- priority_mux: Fixed parameters incorrectly reported as required.
- Contributors: Martin Pecka
2.3.2 (2023-10-06)
- priority_mux: Duration of the wait before publishing the first message is now configurable.
- Contributors: Martin Pecka
2.3.1 (2023-07-13)
- shape_shifter: Fixed detection of header in messages.
- Contributors: Martin Pecka
2.3.0 (2023-07-12)
- priority_mux: Added possibility to send a message just before disabling a topic.
- shape_shifter: Improved getHeader().
- Increased minimum CMake version to 3.10.2.
- priority_mux: Total rewrite, now it should really work.
- Contributors: Martin Pecka
2.2.3 (2023-06-16)
2.2.2 (2023-05-15)
2.2.1 (2023-05-15)
2.2.0 (2023-04-09)
- Added heartbeat.
- Simplified lazy subscriber classes and nodelet code. Added
~tcp_no_delay param to most nodelets. API breaks included, but
hopefully nothing will be affected. API breaks:
- LazySubscriberBase->ConditionalSubscriber
- LazySubscriber: callback is now passed as parameter instead of being a virtual member function
- GenericLazyPubSub: callback is now passed as parameter instead of being a virtual member function
- the nodelets no longer have a dedicated PubSub object that would be reusable elsewhere (the minimum probability of reuse does not outweigh the code complications it brings)
- Contributors: Martin Pecka
2.1.2 (2023-02-10)
2.1.1 (2023-02-08)
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
cras_msgs | |
nodelet | |
rosbag | |
std_msgs | |
topic_tools | |
catkin | |
cras_py_common | |
rospy | |
geometry_msgs | |
roslaunch | |
roslint | |
rostest | |
rostopic | |
cras_cpp_common | |
roscpp |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged cras_topic_tools at Robotics Stack Exchange
![]() |
cras_topic_tools package from cras_ros_utils repocamera_throttle cras_bag_tools cras_cpp_common cras_docs_common cras_py_common cras_topic_tools image_transport_codecs tf_static_publisher |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.5.1 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ctu-vras/ros-utils.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-04-22 |
Dev Status | DEVELOPED |
CI status |
|
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Martin Pecka
Authors
- Martin Pecka
cras_topic_tools
Nodes and nodeletes for safe and efficient manipulation with topics.
Mostly supplementing what is missing from topic_tools
and nodelet_topic_tools
.
Support and Build Status
This package is supported on Melodic and Noetic until their End of Life (and maybe later). It is occasionally tested with non-default GCC versions like Melodic+GCC8 or Noetic+GCC11.
Provided Nodes and Nodelets
Here is an overview of the provided nodes and nodelets. See their API docs for details.
Most of these nodes/nodelets are message-type-agnostic, but they may differ between messages that have or do not have a std_msgs/Header header
field.
-
change_header
: Allows modifying headers of messages (frame ID, timestamp). Usage. -
count_messages
: Count the number of received messages and make it available as a ROS parameter. Usage. -
filter
: (only node, no nodelet) Filter messages on a topic based on a Python expression. Usage. -
heartbeat
: Publishcras_msgs/Heartbeat
heartbeat of a topic. Usage. -
mux_replay
: (only node, no nodelet) Control amux
with a recording of its~selected
topic as if it were live. Usage. -
priority_mux
: Inspired bytwist_mux
, provides a hierarchical way of switching output topics. Works for all message types and for multiple output topics. Usage. -
relay
: Simple relay with the possibility of lazy subscription. Usage. -
repeat
: Increase the frequency of a topic (with various trigger modes etc.). Usage. -
throttle_messages
: Throttle down frequency of a topic - to an exact value, not using the imprecise algorithm fromtopic_tools throttle
. Usage.
A few convenience libraries for working with generic topics are also provided:
-
shape_shifter
: Easily get the buffer or header of aShapeShifter
message or convert a message toShapeShifter
. Also contains a safe-to-use version ofShapeShifter
for Melodic with fixed memory corruption problems. -
lazy_subscriber
: Base class for all lazy subscribers. -
generic_lazy_pub_sub
: Base implementation of a generic pair of publisher-subscriber of a type not known at compile type. -
priority_mux_base
: Base implementation ofpriority_mux
that can be used outside a nodelet.
Changelog for package cras_topic_tools
2.5.1 (2025-02-18)
2.5.0 (2025-02-13)
2.4.8 (2025-01-07)
- Added support for ros::message_traits operations on cras::ShapeShifter on Melodic.
- Contributors: Martin Pecka
2.4.7 (2024-12-12)
2.4.6 (2024-12-12)
2.4.5 (2024-11-02)
2.4.4 (2024-09-14)
2.4.3 (2024-09-14)
2.4.2 (2024-09-05)
2.4.1 (2024-09-04)
2.4.0 (2024-09-04)
- Little fixes suggested by linters.
- priority_mux: Added option to invert disable_topic.
- Contributors: Martin Pecka
2.3.9 (2024-02-27)
- Removed catkin_lint buildfarm hacks.
- Contributors: Martin Pecka
2.3.8 (2024-01-12)
2.3.7 (2024-01-09)
2.3.6 (2024-01-09)
- Made use of the simplified syntax of node_from_nodelet.
- Contributors: Martin Pecka
2.3.5 (2023-11-21)
2.3.4 (2023-10-25)
2.3.3 (2023-10-06)
- priority_mux: Fixed parameters incorrectly reported as required.
- Contributors: Martin Pecka
2.3.2 (2023-10-06)
- priority_mux: Duration of the wait before publishing the first message is now configurable.
- Contributors: Martin Pecka
2.3.1 (2023-07-13)
- shape_shifter: Fixed detection of header in messages.
- Contributors: Martin Pecka
2.3.0 (2023-07-12)
- priority_mux: Added possibility to send a message just before disabling a topic.
- shape_shifter: Improved getHeader().
- Increased minimum CMake version to 3.10.2.
- priority_mux: Total rewrite, now it should really work.
- Contributors: Martin Pecka
2.2.3 (2023-06-16)
2.2.2 (2023-05-15)
2.2.1 (2023-05-15)
2.2.0 (2023-04-09)
- Added heartbeat.
- Simplified lazy subscriber classes and nodelet code. Added
~tcp_no_delay param to most nodelets. API breaks included, but
hopefully nothing will be affected. API breaks:
- LazySubscriberBase->ConditionalSubscriber
- LazySubscriber: callback is now passed as parameter instead of being a virtual member function
- GenericLazyPubSub: callback is now passed as parameter instead of being a virtual member function
- the nodelets no longer have a dedicated PubSub object that would be reusable elsewhere (the minimum probability of reuse does not outweigh the code complications it brings)
- Contributors: Martin Pecka
2.1.2 (2023-02-10)
2.1.1 (2023-02-08)
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
cras_msgs | |
nodelet | |
rosbag | |
std_msgs | |
topic_tools | |
catkin | |
cras_py_common | |
rospy | |
geometry_msgs | |
roslaunch | |
roslint | |
rostest | |
rostopic | |
cras_cpp_common | |
roscpp |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged cras_topic_tools at Robotics Stack Exchange
![]() |
cras_topic_tools package from cras_ros_utils repocamera_throttle cras_bag_tools cras_cpp_common cras_docs_common cras_py_common cras_topic_tools image_transport_codecs tf_static_publisher |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.5.1 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ctu-vras/ros-utils.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-04-22 |
Dev Status | DEVELOPED |
CI status |
|
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Martin Pecka
Authors
- Martin Pecka
cras_topic_tools
Nodes and nodeletes for safe and efficient manipulation with topics.
Mostly supplementing what is missing from topic_tools
and nodelet_topic_tools
.
Support and Build Status
This package is supported on Melodic and Noetic until their End of Life (and maybe later). It is occasionally tested with non-default GCC versions like Melodic+GCC8 or Noetic+GCC11.
Provided Nodes and Nodelets
Here is an overview of the provided nodes and nodelets. See their API docs for details.
Most of these nodes/nodelets are message-type-agnostic, but they may differ between messages that have or do not have a std_msgs/Header header
field.
-
change_header
: Allows modifying headers of messages (frame ID, timestamp). Usage. -
count_messages
: Count the number of received messages and make it available as a ROS parameter. Usage. -
filter
: (only node, no nodelet) Filter messages on a topic based on a Python expression. Usage. -
heartbeat
: Publishcras_msgs/Heartbeat
heartbeat of a topic. Usage. -
mux_replay
: (only node, no nodelet) Control amux
with a recording of its~selected
topic as if it were live. Usage. -
priority_mux
: Inspired bytwist_mux
, provides a hierarchical way of switching output topics. Works for all message types and for multiple output topics. Usage. -
relay
: Simple relay with the possibility of lazy subscription. Usage. -
repeat
: Increase the frequency of a topic (with various trigger modes etc.). Usage. -
throttle_messages
: Throttle down frequency of a topic - to an exact value, not using the imprecise algorithm fromtopic_tools throttle
. Usage.
A few convenience libraries for working with generic topics are also provided:
-
shape_shifter
: Easily get the buffer or header of aShapeShifter
message or convert a message toShapeShifter
. Also contains a safe-to-use version ofShapeShifter
for Melodic with fixed memory corruption problems. -
lazy_subscriber
: Base class for all lazy subscribers. -
generic_lazy_pub_sub
: Base implementation of a generic pair of publisher-subscriber of a type not known at compile type. -
priority_mux_base
: Base implementation ofpriority_mux
that can be used outside a nodelet.
Changelog for package cras_topic_tools
2.5.1 (2025-02-18)
2.5.0 (2025-02-13)
2.4.8 (2025-01-07)
- Added support for ros::message_traits operations on cras::ShapeShifter on Melodic.
- Contributors: Martin Pecka
2.4.7 (2024-12-12)
2.4.6 (2024-12-12)
2.4.5 (2024-11-02)
2.4.4 (2024-09-14)
2.4.3 (2024-09-14)
2.4.2 (2024-09-05)
2.4.1 (2024-09-04)
2.4.0 (2024-09-04)
- Little fixes suggested by linters.
- priority_mux: Added option to invert disable_topic.
- Contributors: Martin Pecka
2.3.9 (2024-02-27)
- Removed catkin_lint buildfarm hacks.
- Contributors: Martin Pecka
2.3.8 (2024-01-12)
2.3.7 (2024-01-09)
2.3.6 (2024-01-09)
- Made use of the simplified syntax of node_from_nodelet.
- Contributors: Martin Pecka
2.3.5 (2023-11-21)
2.3.4 (2023-10-25)
2.3.3 (2023-10-06)
- priority_mux: Fixed parameters incorrectly reported as required.
- Contributors: Martin Pecka
2.3.2 (2023-10-06)
- priority_mux: Duration of the wait before publishing the first message is now configurable.
- Contributors: Martin Pecka
2.3.1 (2023-07-13)
- shape_shifter: Fixed detection of header in messages.
- Contributors: Martin Pecka
2.3.0 (2023-07-12)
- priority_mux: Added possibility to send a message just before disabling a topic.
- shape_shifter: Improved getHeader().
- Increased minimum CMake version to 3.10.2.
- priority_mux: Total rewrite, now it should really work.
- Contributors: Martin Pecka
2.2.3 (2023-06-16)
2.2.2 (2023-05-15)
2.2.1 (2023-05-15)
2.2.0 (2023-04-09)
- Added heartbeat.
- Simplified lazy subscriber classes and nodelet code. Added
~tcp_no_delay param to most nodelets. API breaks included, but
hopefully nothing will be affected. API breaks:
- LazySubscriberBase->ConditionalSubscriber
- LazySubscriber: callback is now passed as parameter instead of being a virtual member function
- GenericLazyPubSub: callback is now passed as parameter instead of being a virtual member function
- the nodelets no longer have a dedicated PubSub object that would be reusable elsewhere (the minimum probability of reuse does not outweigh the code complications it brings)
- Contributors: Martin Pecka
2.1.2 (2023-02-10)
2.1.1 (2023-02-08)
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
cras_msgs | |
nodelet | |
rosbag | |
std_msgs | |
topic_tools | |
catkin | |
cras_py_common | |
rospy | |
geometry_msgs | |
roslaunch | |
roslint | |
rostest | |
rostopic | |
cras_cpp_common | |
roscpp |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged cras_topic_tools at Robotics Stack Exchange
![]() |
cras_topic_tools package from cras_ros_utils repocamera_throttle cras_bag_tools cras_cpp_common cras_docs_common cras_py_common cras_topic_tools image_transport_codecs tf_static_publisher |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.5.1 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ctu-vras/ros-utils.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-04-22 |
Dev Status | DEVELOPED |
CI status |
|
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Martin Pecka
Authors
- Martin Pecka
cras_topic_tools
Nodes and nodeletes for safe and efficient manipulation with topics.
Mostly supplementing what is missing from topic_tools
and nodelet_topic_tools
.
Support and Build Status
This package is supported on Melodic and Noetic until their End of Life (and maybe later). It is occasionally tested with non-default GCC versions like Melodic+GCC8 or Noetic+GCC11.
Provided Nodes and Nodelets
Here is an overview of the provided nodes and nodelets. See their API docs for details.
Most of these nodes/nodelets are message-type-agnostic, but they may differ between messages that have or do not have a std_msgs/Header header
field.
-
change_header
: Allows modifying headers of messages (frame ID, timestamp). Usage. -
count_messages
: Count the number of received messages and make it available as a ROS parameter. Usage. -
filter
: (only node, no nodelet) Filter messages on a topic based on a Python expression. Usage. -
heartbeat
: Publishcras_msgs/Heartbeat
heartbeat of a topic. Usage. -
mux_replay
: (only node, no nodelet) Control amux
with a recording of its~selected
topic as if it were live. Usage. -
priority_mux
: Inspired bytwist_mux
, provides a hierarchical way of switching output topics. Works for all message types and for multiple output topics. Usage. -
relay
: Simple relay with the possibility of lazy subscription. Usage. -
repeat
: Increase the frequency of a topic (with various trigger modes etc.). Usage. -
throttle_messages
: Throttle down frequency of a topic - to an exact value, not using the imprecise algorithm fromtopic_tools throttle
. Usage.
A few convenience libraries for working with generic topics are also provided:
-
shape_shifter
: Easily get the buffer or header of aShapeShifter
message or convert a message toShapeShifter
. Also contains a safe-to-use version ofShapeShifter
for Melodic with fixed memory corruption problems. -
lazy_subscriber
: Base class for all lazy subscribers. -
generic_lazy_pub_sub
: Base implementation of a generic pair of publisher-subscriber of a type not known at compile type. -
priority_mux_base
: Base implementation ofpriority_mux
that can be used outside a nodelet.
Changelog for package cras_topic_tools
2.5.1 (2025-02-18)
2.5.0 (2025-02-13)
2.4.8 (2025-01-07)
- Added support for ros::message_traits operations on cras::ShapeShifter on Melodic.
- Contributors: Martin Pecka
2.4.7 (2024-12-12)
2.4.6 (2024-12-12)
2.4.5 (2024-11-02)
2.4.4 (2024-09-14)
2.4.3 (2024-09-14)
2.4.2 (2024-09-05)
2.4.1 (2024-09-04)
2.4.0 (2024-09-04)
- Little fixes suggested by linters.
- priority_mux: Added option to invert disable_topic.
- Contributors: Martin Pecka
2.3.9 (2024-02-27)
- Removed catkin_lint buildfarm hacks.
- Contributors: Martin Pecka
2.3.8 (2024-01-12)
2.3.7 (2024-01-09)
2.3.6 (2024-01-09)
- Made use of the simplified syntax of node_from_nodelet.
- Contributors: Martin Pecka
2.3.5 (2023-11-21)
2.3.4 (2023-10-25)
2.3.3 (2023-10-06)
- priority_mux: Fixed parameters incorrectly reported as required.
- Contributors: Martin Pecka
2.3.2 (2023-10-06)
- priority_mux: Duration of the wait before publishing the first message is now configurable.
- Contributors: Martin Pecka
2.3.1 (2023-07-13)
- shape_shifter: Fixed detection of header in messages.
- Contributors: Martin Pecka
2.3.0 (2023-07-12)
- priority_mux: Added possibility to send a message just before disabling a topic.
- shape_shifter: Improved getHeader().
- Increased minimum CMake version to 3.10.2.
- priority_mux: Total rewrite, now it should really work.
- Contributors: Martin Pecka
2.2.3 (2023-06-16)
2.2.2 (2023-05-15)
2.2.1 (2023-05-15)
2.2.0 (2023-04-09)
- Added heartbeat.
- Simplified lazy subscriber classes and nodelet code. Added
~tcp_no_delay param to most nodelets. API breaks included, but
hopefully nothing will be affected. API breaks:
- LazySubscriberBase->ConditionalSubscriber
- LazySubscriber: callback is now passed as parameter instead of being a virtual member function
- GenericLazyPubSub: callback is now passed as parameter instead of being a virtual member function
- the nodelets no longer have a dedicated PubSub object that would be reusable elsewhere (the minimum probability of reuse does not outweigh the code complications it brings)
- Contributors: Martin Pecka
2.1.2 (2023-02-10)
2.1.1 (2023-02-08)
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
cras_msgs | |
nodelet | |
rosbag | |
std_msgs | |
topic_tools | |
catkin | |
cras_py_common | |
rospy | |
geometry_msgs | |
roslaunch | |
roslint | |
rostest | |
rostopic | |
cras_cpp_common | |
roscpp |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged cras_topic_tools at Robotics Stack Exchange
![]() |
cras_topic_tools package from cras_ros_utils repocamera_throttle cras_bag_tools cras_cpp_common cras_docs_common cras_py_common cras_topic_tools image_transport_codecs tf_static_publisher |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.5.1 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ctu-vras/ros-utils.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-04-22 |
Dev Status | DEVELOPED |
CI status |
|
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Martin Pecka
Authors
- Martin Pecka
cras_topic_tools
Nodes and nodeletes for safe and efficient manipulation with topics.
Mostly supplementing what is missing from topic_tools
and nodelet_topic_tools
.
Support and Build Status
This package is supported on Melodic and Noetic until their End of Life (and maybe later). It is occasionally tested with non-default GCC versions like Melodic+GCC8 or Noetic+GCC11.
Provided Nodes and Nodelets
Here is an overview of the provided nodes and nodelets. See their API docs for details.
Most of these nodes/nodelets are message-type-agnostic, but they may differ between messages that have or do not have a std_msgs/Header header
field.
-
change_header
: Allows modifying headers of messages (frame ID, timestamp). Usage. -
count_messages
: Count the number of received messages and make it available as a ROS parameter. Usage. -
filter
: (only node, no nodelet) Filter messages on a topic based on a Python expression. Usage. -
heartbeat
: Publishcras_msgs/Heartbeat
heartbeat of a topic. Usage. -
mux_replay
: (only node, no nodelet) Control amux
with a recording of its~selected
topic as if it were live. Usage. -
priority_mux
: Inspired bytwist_mux
, provides a hierarchical way of switching output topics. Works for all message types and for multiple output topics. Usage. -
relay
: Simple relay with the possibility of lazy subscription. Usage. -
repeat
: Increase the frequency of a topic (with various trigger modes etc.). Usage. -
throttle_messages
: Throttle down frequency of a topic - to an exact value, not using the imprecise algorithm fromtopic_tools throttle
. Usage.
A few convenience libraries for working with generic topics are also provided:
-
shape_shifter
: Easily get the buffer or header of aShapeShifter
message or convert a message toShapeShifter
. Also contains a safe-to-use version ofShapeShifter
for Melodic with fixed memory corruption problems. -
lazy_subscriber
: Base class for all lazy subscribers. -
generic_lazy_pub_sub
: Base implementation of a generic pair of publisher-subscriber of a type not known at compile type. -
priority_mux_base
: Base implementation ofpriority_mux
that can be used outside a nodelet.
Changelog for package cras_topic_tools
2.5.1 (2025-02-18)
2.5.0 (2025-02-13)
2.4.8 (2025-01-07)
- Added support for ros::message_traits operations on cras::ShapeShifter on Melodic.
- Contributors: Martin Pecka
2.4.7 (2024-12-12)
2.4.6 (2024-12-12)
2.4.5 (2024-11-02)
2.4.4 (2024-09-14)
2.4.3 (2024-09-14)
2.4.2 (2024-09-05)
2.4.1 (2024-09-04)
2.4.0 (2024-09-04)
- Little fixes suggested by linters.
- priority_mux: Added option to invert disable_topic.
- Contributors: Martin Pecka
2.3.9 (2024-02-27)
- Removed catkin_lint buildfarm hacks.
- Contributors: Martin Pecka
2.3.8 (2024-01-12)
2.3.7 (2024-01-09)
2.3.6 (2024-01-09)
- Made use of the simplified syntax of node_from_nodelet.
- Contributors: Martin Pecka
2.3.5 (2023-11-21)
2.3.4 (2023-10-25)
2.3.3 (2023-10-06)
- priority_mux: Fixed parameters incorrectly reported as required.
- Contributors: Martin Pecka
2.3.2 (2023-10-06)
- priority_mux: Duration of the wait before publishing the first message is now configurable.
- Contributors: Martin Pecka
2.3.1 (2023-07-13)
- shape_shifter: Fixed detection of header in messages.
- Contributors: Martin Pecka
2.3.0 (2023-07-12)
- priority_mux: Added possibility to send a message just before disabling a topic.
- shape_shifter: Improved getHeader().
- Increased minimum CMake version to 3.10.2.
- priority_mux: Total rewrite, now it should really work.
- Contributors: Martin Pecka
2.2.3 (2023-06-16)
2.2.2 (2023-05-15)
2.2.1 (2023-05-15)
2.2.0 (2023-04-09)
- Added heartbeat.
- Simplified lazy subscriber classes and nodelet code. Added
~tcp_no_delay param to most nodelets. API breaks included, but
hopefully nothing will be affected. API breaks:
- LazySubscriberBase->ConditionalSubscriber
- LazySubscriber: callback is now passed as parameter instead of being a virtual member function
- GenericLazyPubSub: callback is now passed as parameter instead of being a virtual member function
- the nodelets no longer have a dedicated PubSub object that would be reusable elsewhere (the minimum probability of reuse does not outweigh the code complications it brings)
- Contributors: Martin Pecka
2.1.2 (2023-02-10)
2.1.1 (2023-02-08)
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
cras_msgs | |
nodelet | |
rosbag | |
std_msgs | |
topic_tools | |
catkin | |
cras_py_common | |
rospy | |
geometry_msgs | |
roslaunch | |
roslint | |
rostest | |
rostopic | |
cras_cpp_common | |
roscpp |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged cras_topic_tools at Robotics Stack Exchange
![]() |
cras_topic_tools package from cras_ros_utils repocamera_throttle cras_bag_tools cras_cpp_common cras_docs_common cras_py_common cras_topic_tools image_transport_codecs tf_static_publisher |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.5.1 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ctu-vras/ros-utils.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-04-22 |
Dev Status | DEVELOPED |
CI status |
|
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Martin Pecka
Authors
- Martin Pecka
cras_topic_tools
Nodes and nodeletes for safe and efficient manipulation with topics.
Mostly supplementing what is missing from topic_tools
and nodelet_topic_tools
.
Support and Build Status
This package is supported on Melodic and Noetic until their End of Life (and maybe later). It is occasionally tested with non-default GCC versions like Melodic+GCC8 or Noetic+GCC11.
Provided Nodes and Nodelets
Here is an overview of the provided nodes and nodelets. See their API docs for details.
Most of these nodes/nodelets are message-type-agnostic, but they may differ between messages that have or do not have a std_msgs/Header header
field.
-
change_header
: Allows modifying headers of messages (frame ID, timestamp). Usage. -
count_messages
: Count the number of received messages and make it available as a ROS parameter. Usage. -
filter
: (only node, no nodelet) Filter messages on a topic based on a Python expression. Usage. -
heartbeat
: Publishcras_msgs/Heartbeat
heartbeat of a topic. Usage. -
mux_replay
: (only node, no nodelet) Control amux
with a recording of its~selected
topic as if it were live. Usage. -
priority_mux
: Inspired bytwist_mux
, provides a hierarchical way of switching output topics. Works for all message types and for multiple output topics. Usage. -
relay
: Simple relay with the possibility of lazy subscription. Usage. -
repeat
: Increase the frequency of a topic (with various trigger modes etc.). Usage. -
throttle_messages
: Throttle down frequency of a topic - to an exact value, not using the imprecise algorithm fromtopic_tools throttle
. Usage.
A few convenience libraries for working with generic topics are also provided:
-
shape_shifter
: Easily get the buffer or header of aShapeShifter
message or convert a message toShapeShifter
. Also contains a safe-to-use version ofShapeShifter
for Melodic with fixed memory corruption problems. -
lazy_subscriber
: Base class for all lazy subscribers. -
generic_lazy_pub_sub
: Base implementation of a generic pair of publisher-subscriber of a type not known at compile type. -
priority_mux_base
: Base implementation ofpriority_mux
that can be used outside a nodelet.
Changelog for package cras_topic_tools
2.5.1 (2025-02-18)
2.5.0 (2025-02-13)
2.4.8 (2025-01-07)
- Added support for ros::message_traits operations on cras::ShapeShifter on Melodic.
- Contributors: Martin Pecka
2.4.7 (2024-12-12)
2.4.6 (2024-12-12)
2.4.5 (2024-11-02)
2.4.4 (2024-09-14)
2.4.3 (2024-09-14)
2.4.2 (2024-09-05)
2.4.1 (2024-09-04)
2.4.0 (2024-09-04)
- Little fixes suggested by linters.
- priority_mux: Added option to invert disable_topic.
- Contributors: Martin Pecka
2.3.9 (2024-02-27)
- Removed catkin_lint buildfarm hacks.
- Contributors: Martin Pecka
2.3.8 (2024-01-12)
2.3.7 (2024-01-09)
2.3.6 (2024-01-09)
- Made use of the simplified syntax of node_from_nodelet.
- Contributors: Martin Pecka
2.3.5 (2023-11-21)
2.3.4 (2023-10-25)
2.3.3 (2023-10-06)
- priority_mux: Fixed parameters incorrectly reported as required.
- Contributors: Martin Pecka
2.3.2 (2023-10-06)
- priority_mux: Duration of the wait before publishing the first message is now configurable.
- Contributors: Martin Pecka
2.3.1 (2023-07-13)
- shape_shifter: Fixed detection of header in messages.
- Contributors: Martin Pecka
2.3.0 (2023-07-12)
- priority_mux: Added possibility to send a message just before disabling a topic.
- shape_shifter: Improved getHeader().
- Increased minimum CMake version to 3.10.2.
- priority_mux: Total rewrite, now it should really work.
- Contributors: Martin Pecka
2.2.3 (2023-06-16)
2.2.2 (2023-05-15)
2.2.1 (2023-05-15)
2.2.0 (2023-04-09)
- Added heartbeat.
- Simplified lazy subscriber classes and nodelet code. Added
~tcp_no_delay param to most nodelets. API breaks included, but
hopefully nothing will be affected. API breaks:
- LazySubscriberBase->ConditionalSubscriber
- LazySubscriber: callback is now passed as parameter instead of being a virtual member function
- GenericLazyPubSub: callback is now passed as parameter instead of being a virtual member function
- the nodelets no longer have a dedicated PubSub object that would be reusable elsewhere (the minimum probability of reuse does not outweigh the code complications it brings)
- Contributors: Martin Pecka
2.1.2 (2023-02-10)
2.1.1 (2023-02-08)
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
cras_msgs | |
nodelet | |
rosbag | |
std_msgs | |
topic_tools | |
catkin | |
cras_py_common | |
rospy | |
geometry_msgs | |
roslaunch | |
roslint | |
rostest | |
rostopic | |
cras_cpp_common | |
roscpp |