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I found some examples of nodelets used both getNodeHandle() and getPrivateNodeHandle () to get the ros::NodeHandle， and I felt that they had the same effects. So what are the exact deferences between getNodeHandle() and getPrivateNodeHandle () in nodelet?
Private node handles are used for accessing resources (advertising, subscribing topics, parameters, ...) in the nodelet's private namespace. The non-private version should give a node handle in the manager's namespace.
Example: you run a nodelet foo in the manager named bar. When advertising the topic baz using the private node handle, the topic should be something like that:
/bar/foo/baz
When using the non-private node handle, you should get:
/bar/baz
As a general rule (there are exceptions), you should access parameters using getPrivateNodeHandle(), and topics via getNodeHandle().
That is because parameters are (generally) private to your nodelet, while topics will be shared with other nodes and nodelets.
Asked: 2012-04-17 16:02:45 -0600
Seen: 6,989 times
Last updated: Aug 07 '16
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