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Both existing python nodes as well as the planned filter relay node use these shared elements. Using a shared parent class cleans up code repetition.
Node will need to create multiple publishers and evaluate input functions to determine whether node should publish message on topic. This involves a lot of the same logic as the transform node for message evaluation against a function, with the addition of multiple publishers.
Every filter that a message matches will publish using the associated publisher.
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Hello, I would really appreciate any feedback you have for this PR. In all honesty, 90% of this node is the same as the existing transform node, as it shares a lot of underlying requirements. I have also taken the opportunity to refactor the existing python nodes to use a shared base node, which should make it easier for future developers to add new nodes. |
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This PR adds the feature related to #141 by adding a new filter relay node to the topic tools package.
This node is capable of subscribing to a topic, and based on a python conditional statement, can republish the message on zero to multiple topics.
An example use case of this node is during deployment, a system may want all pointcloud messages to publish on a single topic. However during development and debugging, you may want to be able to split these messages into multiple topics to view or use just one.