nodelet: Publisher subscriber

asked 2016-11-02 09:13:35 -0500

ROSfc
54 ●8 ●10 ●15

I have seen the basic working of the nodelets and even read the instruction how to port your class to nodelet. But I don't know how to make my publisher subscriber nodes into nodelet. Once of the instruction is delete the main() and put the constructor into the init(). So then where does the publisher while loop go then ? and where is my subscriber supposed to do the callback ? I am completely confused. Does anyone have a minimum working example for publisher subscriber nodelets ? Or any tips on how to do this task ?

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answered 2016-11-14 09:06:21 -0500

ROSfc
54 ●8 ●10 ●15

This book below has some good examples:

Mastering ROS for Robotics Programming By Lentin Joseph

To answer my own question in short, there are no while loops or spin() and spinOnce() this is taken care of by the nodelet manager.

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answered 2016-11-02 18:38:52 -0500

JoshMarino
592 ●14 ●21 ●25

Google search returned this. It has an example of both subscriber and publishers.

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I have seen the link it doesn't solve either of my doubts on what to do with my ros::while loops and what happens to the subscriber and publisher spin and spinOnce. I want to have them as two separate nodelets. Anyways I will ask some friends here next week.

ROSfc ( 2016-11-03 11:14:16 -0500 )edit

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