Pepper robot: subscribeCamera's name argument

Question

I want to capture an image from the camera of Pepper, so first I subscribe to a camera using subscribeCamera method. I have seen the documentation.

So the function needs some parameters:

 std::string ALVideoDeviceProxy::subscribeCamera(
     const std::string& Name,
     const int& CameraIndex,
     const int& Resolution,
     const int& ColorSpace,
     const int& Fps)

Parameters:

• Name – Name of the subscribing module.
• CameraIndex – Index of the camera in the video system (see Camera Indexes).
• Resolution – Resolution requested (see Supported resolutions).
• ColorSpace – Colorspace requested (see Supported colorspaces).
• Fps – Fps (frames per second) requested to the video source (see Supported framerates).

My question is about the first parameter: name, because the documentation says:

Warning

The same Name could be used only six time.

Why the name can be used only 6 times? after the six times the function stops to return a value. So I have to change the name every 6 times?

Answer 1

I think the point is more something like "you couldn't use more than 6 times, without unsusbscribing first".

The subscribe process return you a name to refer to. If this name exists already it will give you another one. like: subscribe( "toto") => toto subscribe( "toto") => toto_2 subscribe( "toto") => toto_3 ... But only 6 times (lazy programmer, but not only, you should have a design problem in this case, eg: forget to unsubscribe).

So I think the "normal way" is to unsubscribe, and then it should do that: subscribe( "toto") => "toto" unsubscribe( "toto") ( "toto" is not used anymore, so the system can use it later) subscribe( "toto") => "toto"