Inherit from nodelet

asked 2019-07-27 05:45:00 -0500

Gil404 gravatar image

Hi Guys,

I would like create my own base nodelet that inherits from nodelet::Nodlet. Is that even possible?

I have tried to do the follwing:

I have MyNodelet:

#include "ros/ros.h"
#include <boost/thread.hpp>
#include <nodelet/nodelet.h>

namespace my_commons
{
class MyNodelet : public nodelet::Nodelet
{
  private:
  protected:
    ros::Publisher mHeartBeatPublisher;
    boost::shared_ptr<boost::thread> mHeartBeatThread; /**< thread to publish is alive msgs  */
    void publishHearBeat();

  public:
    MyNodelet();
    ~MyNodelet();
};
}

I exported this class and my CMakeLists looks like this:

cmake_minimum_required(VERSION 2.8.3)
project(my_commons)
set(CMAKE_CXX_FLAGS "-std=c++0x ${CMAKE_CXX_FLAGS}")


find_package(catkin REQUIRED COMPONENTS
roscpp
)

catkin_package(CATKIN_DEPENDS tf
               INCLUDE_DIRS include)


include_directories(
  ${catkin_INCLUDE_DIRS}
   include/
)
###########
## Build ##
###########

add_library(my_commons SHARED
src/MyNodelet.cpp
src/Utils.cpp
)

set_target_properties(my_commons PROPERTIES LINKER_LANGUAGE CXX)

target_link_libraries(my_commons
                        ${catkin_LIBRARIES}
                        ${roscpp_LIBRARIES}
)


install(DIRECTORY include/
  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
  FILES_MATCHING PATTERN "*.hpp"
  PATTERN ".svn" EXCLUDE)


# Install library
install(TARGETS my_commons
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

In my project called MyManager I am trying to inherit from MyNodelet like this:

class IndoorMissionManagerNodelet : public indoor_commons::IndoorNodelet
{
  public:
private:
.
.
.
}

But getting the following error:

[ERROR] [1564223743.672241000]: **Failed to load nodelet [/my_manager] of type [my_manager/MyManagerNodelet] even after refreshing the cache: According to the loaded plugin descriptions the class indoor_mission_manager/IndoorMissionManagerNodelet with base class type nodelet::Nodelet does not exist**. Declared types are  SlamGMappingNodelet adding_images/adding_images camshift/camshift contour_moments/contour_moments convex_hull/convex_hull corner_harris/corner_harris depth_image_proc/convert_metric depth_image_proc/crop_foremost depth_image_proc/disparity depth_image_proc/point_cloud_xyz depth_image_proc/point_cloud_xyz_radial depth_image_proc/point_cloud_xyzi depth_image_proc/point_cloud_xyzi_radial depth_image_proc/point_cloud_xyzrgb depth_image_proc/register discrete_fourier_transform/discrete_fourier_transform edge_detection/edge_detection face_detection/face_detection face_recognition/face_recognition fback_flow/fback_flow find_contours/find_contours general_contours/general_contours goodfeature_track/goodfeature_track hls_color_filter/hls_color_filter hough_circles/hough_circles hough_lines/hough_lines hsv_color_filter/hsv_color_filter image_proc/crop_decimate image_proc/crop_nonZero image_proc/crop_non_zero image_proc/debayer image_proc/rectify image_proc/resize image_publisher/image_publisher image_rotate/image_rotate image_view/disparity image_view/image indoor_anomaly_detector/IndoorAnomalyDetectorNodelet indoor_device_manager/IndoorDeviceManager indoor_drone_detector/LedDroneDetectorNodelet indoor_energy_manager/IndoorEnergyManager indoor_global_planner/IndoorGlobalPlannerNodelet indoor_local_planner/IndoorLocalPlannerNodelet indoor_log_manager/IndoorLogManagerNodelet indoor_logger/IndoorLoggerNodelet indoor_nodelet_balancer/IndoorNodeletBalancer indoor_video_manager/IndoorVideoManagerNodelet lk_flow/lk_flow nodelet_tutorial_math/Plus opencv_apps/adding_images opencv_apps/camshift opencv_apps/contour_moments opencv_apps/convex_hull opencv_apps/corner_harris opencv_apps/discrete_fourier_transform opencv_apps/edge_detection opencv_apps/face_detection opencv_apps/face_recognition opencv_apps/fback_flow opencv_apps/find_contours opencv_apps/general_contours opencv_apps/goodfeature_track opencv_apps/hls_color_filter opencv_apps/hough_circles opencv_apps/hough_lines opencv_apps/hsv_color_filter opencv_apps/lk_flow opencv_apps/people_detect opencv_apps/phase_corr opencv_apps/pyramids opencv_apps/rgb_color_filter opencv_apps/segment_objects opencv_apps/simple_compressed_example opencv_apps/simple_example opencv_apps/simple_flow opencv_apps/smoothing opencv_apps/threshold opencv_apps/watershed_segmentation pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid people_detect/people_detect phase_corr/phase_corr pyramids/pyramids rgb_color_filter/rgb_color_filter segment_objects/segment_objects simple_compressed_example/simple_compressed_example simple_example/simple_example simple_flow/simple_flow smoothing/smoothing stereo_image_proc/disparity stereo_image_proc/point_cloud2 threshold/threshold watershed_segmentation/watershed_segmentation
[ERROR] [1564223743.672307997]: The error before refreshing the cache was: According to the loaded plugin descriptions the class my_manager/MyManagerNodelet with base class type nodelet::Nodelet does not exist. Declared types are  SlamGMappingNodelet adding_images/adding_images camshift/camshift contour_moments/contour_moments ...
(more)
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Comments

Any answer is going to depend on the contents of your package.xml and the .xml file that exports the necessary metadata for the plugin (which a nodelet essentially is).

As a separate comment though: "heartbeat" pub-subs are already provided by the bond package. You may want to take a look at that.

gvdhoorn gravatar imagegvdhoorn ( 2019-07-28 12:03:56 -0500 )edit