Hello,

In my node I have several classes which I called from the main()

Then inside these classes constructor I simply use

nh_(ros::this_node::getName())
ros::NodeHandle nhPriv("~");

Now I convert this main() into a nodelet. The nh_ and nhPriv inside classes doesn't work because its not a node but a nodelet.

what is the best way to get nodeHandles inside these classes ?

I am dreading making these several classes into nodelets, is there a better way ?