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What are these lines?

ros::Subscriber<std_msgs::Float32> lwheel_vtarget("lwheel_vtarget", lmotorCb);

ros::Subscriber<std_msgs::Float32> rwheel_vtarget("rwheel_vtarget", rmotorCb);

Are you trying to create subscriber? AFAIK you need to create a subscriber using node handle e.g. nh.subscribe("topic",queue_size,callback) See this tutorial for more detail

What are these lines?

ros::Subscriber<std_msgs::Float32> lwheel_vtarget("lwheel_vtarget", lmotorCb);

ros::Subscriber<std_msgs::Float32> rwheel_vtarget("rwheel_vtarget", rmotorCb);

Are you trying to create subscriber? subscriber?

AFAIK you need to create a subscriber using node handle e.g. nh.subscribe("topic",queue_size,callback) ,e.g. nh.subscribe("topic",queue_size,callback)

See this tutorial for more detail

What are these lines?

ros::Subscriber<std_msgs::Float32> lwheel_vtarget("lwheel_vtarget", lmotorCb);

ros::Subscriber<std_msgs::Float32> rwheel_vtarget("rwheel_vtarget", rmotorCb);

Are you trying to create subscriber?

AFAIK you need to create a subscriber using node handle ,e.g. nh.subscribe("topic",queue_size,callback)

See this tutorial for more detail

What are these lines?

ros::Subscriber<std_msgs::Float32> lwheel_vtarget("lwheel_vtarget", lmotorCb);

ros::Subscriber<std_msgs::Float32> rwheel_vtarget("rwheel_vtarget", rmotorCb);

Are you trying to create subscriber?

AFAIK you need to create a subscriber using node handle ,e.g. nh.subscribe("topic",queue_size,callback)

See this tutorial for more detail