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C++ RAII interface to ROS?

asked 2015-08-07 06:16:00 -0500

drewm1980 gravatar image

Is there a supported RAII interface to ROS? i.e. a class that encapsulates the ros connection, with initialization in the constructor and teardown in the destructor, etc?

The tutorials all seem to start with a call to ros::init, for example, and I don't understand why that can't just be done in the NodeHandle constructor.

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answered 2015-08-08 13:58:42 -0500

NEngelhard gravatar image

So far, there is nothing (afaik). If often happens (at least for me) that you have several NodeHandels in a single Node. I have one for the global namespace and one local ( NodeHandle("~") ) so that it's a bit easier to see where a parameter comes from.

But the concept of a node lifecycle will probably end up in ROS 2:

https://github.com/gbiggs/design/comm...

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Thanks for the confirmation.... I thought that was the case.

drewm1980 gravatar image drewm1980  ( 2015-08-10 08:21:46 -0500 )edit

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Asked: 2015-08-07 06:16:00 -0500

Seen: 108 times

Last updated: Aug 08 '15