In our project we want to write a node to check sensor nodes for possible errors. One of the checked criterion is, if the topics of the node are actually published and not just have publisher.
**Is it possible to check for published messages or publishing frequency without actually subscribing?**
The reason behind it is, that some sensors like cameras publishes large amount of data, which slow down the checknode.
Not suitable solutions:
- "rospy.get_published_topics" does not check, if the publisher is publishing at all.
- [rostopic hz subscribes the topic](https://answers.ros.org/question/237789/check-if-messages-are-published-on-a-topic/)
- saving time solutions require subscription at some point
Thank you.
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