ROS-在代码中获取当前可用主题（不是命令）

Question

I want to get current available topics in my code so that I can set up publisher and subscribber accordingly. I know command 'rostopic list' would show this, but I want to get the information when my program is running.

Is there any API could do this?

Answer 1

Post edited after Gabor Meszaros's answer.

You find ROS C++ API reference (roscpp) here and - as in Python - you'll find getTopics method in ros::master subsection.

Here is a sample code of how to use it:

ros::master::V_TopicInfo master_topics;
ros::master::getTopics(master_topics);

for (ros::master::V_TopicInfo::iterator it = master_topics.begin() ; it != master_topics.end(); it++) {
  const ros::master::TopicInfo& info = *it;
  std::cout << "topic_" << it - master_topics.begin() << ": " << info.name << std::endl;
}

Answer 2

I am not familiar with ROS API, is getTopics that you are looking for?

Alternatively you can check the implementation of the rostopic list (it is python, but maybe there are overlap with the C++ API). You can find it here .