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I'm new to ROS and exploring it by using the Husky robot. So when I checked topics after launching it with Gazebo, some of the topics have publisher None:

$rostopic info /husky_velocity_controller/odom
Type: nav_msgs/Odometry

Publishers: None

Subscribers: 
 * /ekf_localization (http://localhost:33585/)

So how can a ROS Topic has a None publisher?

Mücteba Özcan
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  • Here it just means that the ekf node has created a subscriber for that topic and no node has created a publisher. – BTables Dec 17 '21 at 14:56
  • Topics are listet if a publisher OR subscriber exists. So in this case a subscriber waits for a publisher coming up. – Fruchtzwerg Dec 18 '21 at 14:45

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