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I think I figured out what your mistake is. The 4th argument in the n.subscribe method should be the context in which the callback should be called.

That is, instead of

ros::Subscriber ComPose_sub = n.subscribe("/RosAria/pose", 1000, &PioneerData::ComPoseCallback, PioneerData);

you should first instantiate the PioneerData class like this.

PioneerData pioneerData;

Then call the subscriber method with a pointer to the object instance.

ros::Subscriber ComPose_sub = n.subscribe("/RosAria/pose", 1000, &PioneerData::ComPoseCallback, &pioneerData);

It should work. Let me know if it doesn't.

I think I figured out what your mistake is. The 4th argument in the n.subscribe method should be the context in which the callback should be called.

That is, instead of

ros::Subscriber ComPose_sub = n.subscribe("/RosAria/pose", 1000, &PioneerData::ComPoseCallback, PioneerData);

you should first instantiate the PioneerData class like this.

PioneerData pioneerData;

Then call the subscriber method with a pointer to the object instance.

ros::Subscriber ComPose_sub = n.subscribe("/RosAria/pose", 1000, &PioneerData::ComPoseCallback, &pioneerData);

It should work. Let me know if it doesn't.

EDIT

Also, your ComPoseCallback method definition should be changed to

void PioneerData::ComPoseCallback(const nav_msgs::Odometry::ConstPtr& msg)  { ...