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Nodelets creation

asked 2012-04-08 15:27:26 -0500

Alekzander gravatar image

Hello, im tryng to implement nodelets with pcl, can someone help me with a basic example on how to create a nodelet?, i already read about the pluginlib and the nodelet from the wiki ros page, still i have not been able to create a nodelet. Please i would really apreciate some help.

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answered 2012-04-08 17:28:32 -0500

joq gravatar image

I wrote one recently. A separate Convert class does the work, and a minimal node and nodelet instantiate it. For several reasons, I find it convenient to have both.

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Thanks a lot that's very illustrative, just one more question, the onInit method is kind of the same as: int main()?

Alekzander gravatar image Alekzander  ( 2012-04-08 17:54:48 -0500 )edit
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It is not like main. It should return quickly. It will be called when the nodelet has been created to allow you to setup operations.

tfoote gravatar image tfoote  ( 2012-04-09 16:22:20 -0500 )edit

@tfoote makes an important point. Don't think of onInit() as main(), it's really just the constructor, which should return immediately.

joq gravatar image joq  ( 2012-04-09 16:26:55 -0500 )edit
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answered 2012-04-08 17:54:04 -0500

Alekzander gravatar image

Thanks a lot that's very illustrative, just one more question, the onInit method is kind of the same as: int main()?

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Asked: 2012-04-08 15:27:26 -0500

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Last updated: Apr 08 '12