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How do i publish in a callback function?

asked 2016-01-20 13:24:28 -0600

Gren8 gravatar image

Good evening,

my problem is that i want to subscribe and publish in the same node. I need to publish in a callback function but the nodehandle is initialized in the main(). How can i publish a messages in callback function? Is it possible to use a pointer to a publisher? If yes how could i do that?

Please help!

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answered 2016-01-20 14:53:50 -0600

This is easily possible and you should be able to find many examples of this in existing ROS packages. Some examples: node (inside class), nodelet.

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Asked: 2016-01-20 13:24:28 -0600

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Last updated: Jan 20 '16