Creating a script to subscribe to multiple nodes with the same message id

Applications & Usage PyCyphal
1

Hi!

For context, I have multiple micro-controllers which have some ToF sensors attached and I have the ToF data publishing onto my CAN network. The micro-controllers all have the same code on them apart from giving a unique node ID.

I’m currently trying to make a python script which consists of subscribers who subscribe to each micro-controller’s ToF data message. I have a script working for when there is used one micro-controller connected, but when I add a second the two nodes publishing ToF data is going into the one subscriber.

I have two nodes 23 and 24 publishing data onto Port ID 1630. What I’d like to do is the following:
1 subscriber attached to node 23, port id 1630
1 subscriber attached to node 24, port id 1630

Is this possible? If so, how would I construct such?

Thanks in advance
Rebecca

2

Are you using the legacy v0 or the modern v1?

3

I’m using the modern V1

4

The idiomatic approach is to publish the data from different sensors on different subjects. Segregation by source node-ID is, in general, incompatible with the publish-subscribe architecture.

This and other architectural concepts (with examples) are covered in detail in the UAVCAN Guide.

5

Ok, thanks for clarifying.

I’ll speak to my colleague to see how we can modify our setup to match the ideal approach