Make sure topics start with /

launch/example.launch~

@@ -0,0 +1,74 @@
+<?xml version="1.0"?>
+<launch>
+    <arg name="host" default="raphaelchang.com" />
+    <arg name="port" default="8080"/>
+    <node pkg="roscloud_client" type="client_node.py" name="foo_client_node" output="screen">
+        <param name="name" value="foo"/>
+        <param name="host" value="$(arg host)"/>
+        <param name="port" value="$(arg port)"/>
+        <param name="private_key" value="MIICXAIBAAKBgQCTUQ49FJUCVvU5tIag" />
+        <param name="description" value="foo robot" />
+    </node>
+
+    <node pkg="roscloud_client" type="client_node.py" name="bar_client_node" output="screen">
+        <param name="name" value="bar"/>
+        <param name="host" value="$(arg host)"/>
+        <param name="port" value="$(arg port)"/>
+        <param name="private_key" value="MIICXAIBAAKBgQCTUQ49FJUCVvU5tIag" />
+        <param name="description" value="bar robot" />
+    </node>
+
+    <node pkg="roscloud_client" type="client_node.py" name="baz_client_node" output="screen">
+        <param name="name" value="baz"/>
+        <param name="host" value="$(arg host)"/>
+        <param name="port" value="$(arg port)"/>
+        <param name="private_key" value="MIICXAIBAAKBgQCTUQ49FJUCVvU5tIag" />
+        <param name="description" value="baz robot" />
+    </node>
+
+    <node pkg="roscloud_client" type="client_node.py" name="qux_client_node" output="screen">
+        <param name="name" value="qux"/>
+        <param name="host" value="$(arg host)"/>
+        <param name="port" value="$(arg port)"/>
+        <param name="private_key" value="MIICXAIBAAKBgQCTUQ49FJUCVvU5tIag" />
+        <param name="description" value="qux robot" />
+        <rosparam>
+            publishing:
+                - /state
+                - /filtered_state
+                - /usb_cam/image_raw/compressed
+                - /test_string
+            types:
+                - geometry_msgs/Point
+                - geometry_msgs/Point
+                - sensor_msgs/CompressedImage
+                - std_msgs/String
+            trusted:
+                - ".*"
+                - foo bar
+                - foo
+                - "ba[a-z]"
+        </rosparam>
+
+    </node>
+
+    <node pkg="rostopic" type="rostopic" name="state_pub"
+        args="pub -r 100 /state geometry_msgs/Point '{x: 1, y: 1, z: 0}'"/>
+    <node pkg="rostopic" type="rostopic" name="filtered_state_pub"
+        args="pub -r 100 /filtered_state geometry_msgs/Point '{x: 2, y: 1, z: 1}'" />
+    <node pkg="rostopic" type="rostopic" name="string_pub"
+        args="pub -r 100 /test_string std_msgs/String 'test'" />
+    <node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" >
+        <param name="video_device" value="/dev/video0" />
+        <param name="image_width" value="640" />
+        <param name="image_height" value="480" />
+        <param name="pixel_format" value="yuyv" />
+        <param name="camera_frame_id" value="usb_cam" />
+        <param name="io_method" value="mmap"/>
+    </node>
+    <!-- <node name="image_view" pkg="image_view" type="image_view" respawn="false" output="screen"> -->
+    <!--     <remap from="image" to="/qux/usb_cam/image_raw"/> -->
+    <!--     <param name="autosize" value="true" /> -->
+    <!-- </node> -->
+
+</launch>

src/client_node.py

@@ -34,6 +34,8 @@ def __init__(self, host, port, name, broadcasting, private_key, description):
     # Runs a loop that checks for received messages.
     def run(self):
         for topic, msg_type, trusted in self.broadcasting:
+            if topic[0] != "/":
+                topic = "/" + topic
             self.create_subscriber(topic, msg_type, trusted)
             if topic == "/receiving":
                 rospy.logerror("{}: topic name 'receiving' is reserved".format(