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The reason why your callback is not called is topic names mismatch. Let me explain.

Let's say your variable lidar_input_topic_name_ contains value echo. You probably expect to subscribe to the topic name /echo. However, in reality ROS subscribes to <your node name>/echo because you pass private_node_handle_("~") into nodeHandle_ variable of the class constructor.

This causes all subscriptions to have your node name in front of topic names. See http://wiki.ros.org/roscpp/Overview/NodeHandles for explanation

So minimal way to fix it is to change

ros::NodeHandle private_node_handle_("~");

to

ros::NodeHandle private_node_handle_;

I just tested on my machine and it works.

P.S. By the way, my usual practice is to pass two NodeHandle variables into my constructors - one regular (i.e. without ~) and one private

Then I use regular handle for all of my publishers, subscribers and global parameters and I use private handle to get node's private parameters with <private nh>.param() function