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private nodehandles in ros 2

asked 2018-06-19 05:38:07 -0500

Skyking gravatar image

Will ros 2 support anything similar to private nodehandle concept of ROS 1 ?

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answered 2018-06-19 14:37:34 -0500

William gravatar image

updated 2018-06-19 14:41:22 -0500

The same syntax can be used in ROS 2 as in ROS 1, e.g. ~/chatter will become /node_namespace/node_name/chatter. See:


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", ...);
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Asked: 2018-06-19 05:38:07 -0500

Seen: 824 times

Last updated: Jun 19 '18