{"action":"created","issue":{"url":"https://api.github.com/repos/clearpathrobotics/vrpn_client_ros/issues/1","repository_url":"https://api.github.com/repos/clearpathrobotics/vrpn_client_ros","labels_url":"https://api.github.com/repos/clearpathrobotics/vrpn_client_ros/issues/1/labels{/name}","comments_url":"https://api.github.com/repos/clearpathrobotics/vrpn_client_ros/issues/1/comments","events_url":"https://api.github.com/repos/clearpathrobotics/vrpn_client_ros/issues/1/events","html_url":"https://github.com/clearpathrobotics/vrpn_client_ros/issues/1","id":152489756,"number":1,"title":"VRPN Tracker May Have Multiple Sensors","user":{"login":"karlun","id":4170866,"avatar_url":"https://avatars.githubusercontent.com/u/4170866?v=3","gravatar_id":"","url":"https://api.github.com/users/karlun","html_url":"https://github.com/karlun","followers_url":"https://api.github.com/users/karlun/followers","following_url":"https://api.github.com/users/karlun/following{/other_user}","gists_url":"https://api.github.com/users/karlun/gists{/gist_id}","starred_url":"https://api.github.com/users/karlun/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/karlun/subscriptions","organizations_url":"https://api.github.com/users/karlun/orgs","repos_url":"https://api.github.com/users/karlun/repos","events_url":"https://api.github.com/users/karlun/events{/privacy}","received_events_url":"https://api.github.com/users/karlun/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":2,"created_at":"2016-05-02T06:32:03Z","updated_at":"2016-05-02T12:46:38Z","closed_at":null,"body":"A VRPN \"tracker\" can have multiple tracked frames, each being a separate \"sensor\" in the VRPN API. In our project we have two sensors on one tracker and need to be able to read these off separately. The attached patch adds a parameter \"append_sensor_id\" that when set to true makes the client append the sensor id to the tracker name before submitting the pose to the tf topic.\r\n\r\n[sensor_id.patch.txt](https://github.com/clearpathrobotics/vrpn_client_ros/files/244584/sensor_id.patch.txt)\r\n"},"comment":{"url":"https://api.github.com/repos/clearpathrobotics/vrpn_client_ros/issues/comments/216225913","html_url":"https://github.com/clearpathrobotics/vrpn_client_ros/issues/1#issuecomment-216225913","issue_url":"https://api.github.com/repos/clearpathrobotics/vrpn_client_ros/issues/1","id":216225913,"user":{"login":"paulbovbel","id":1694370,"avatar_url":"https://avatars.githubusercontent.com/u/1694370?v=3","gravatar_id":"","url":"https://api.github.com/users/paulbovbel","html_url":"https://github.com/paulbovbel","followers_url":"https://api.github.com/users/paulbovbel/followers","following_url":"https://api.github.com/users/paulbovbel/following{/other_user}","gists_url":"https://api.github.com/users/paulbovbel/gists{/gist_id}","starred_url":"https://api.github.com/users/paulbovbel/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/paulbovbel/subscriptions","organizations_url":"https://api.github.com/users/paulbovbel/orgs","repos_url":"https://api.github.com/users/paulbovbel/repos","events_url":"https://api.github.com/users/paulbovbel/events{/privacy}","received_events_url":"https://api.github.com/users/paulbovbel/received_events","type":"User","site_admin":false},"created_at":"2016-05-02T12:46:38Z","updated_at":"2016-05-02T12:46:38Z","body":"It probably makes sense to publish to 'sensor_num/pose' when append_sensor_id is true. (https://github.com/clearpathrobotics/vrpn_client_ros/blob/indigo-devel/src%2Fvrpn_client_ros.cpp#L117).\r\n\r\nThis would require creating a vector of shared_ptr<Publisher> rather than one publisher per Tracker."}}