private nodehandles in ros 2
Will ros 2 support anything similar to private nodehandle concept of ROS 1 ?
Asked by Skyking on 2018-06-19 05:38:07 UTC
Answers
The same syntax can be used in ROS 2 as in ROS 1, e.g. ~/chatter
will become /node_namespace/node_name/chatter
. See:
EDIT:
Sorry, I guess you mean the roscpp::NodeHandle
object in C++, right now we don't have that, but it's possible we could have it in the future.
In stead, if ROS 1 code used to do something like:
NodeHandle pnh("~");
pnh.advertise<...>("chatter", ...);
In ROS 2, you'd need to instead do:
auto node = std::make_shared<rclcpp::Node>("...", ...);
node->create_publisher<...>("~/chatter", ...);
Asked by William on 2018-06-19 14:37:34 UTC
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