How to use composition instead of nodelets?

asked 2019-08-08 14:03:07 -0500

EdwardNur gravatar image

updated 2019-08-22 11:52:10 -0500

mjcarroll gravatar image

I have read the theory behind the compositions but in practice, I find it confusing on how to replace the nodelets in ROS1 to compositions in ROS2. More specifically, consider this code:

https://github.com/introlab/rtabmap_r...

As you can see, the nodelets are being created and it has a main function wheres compositions do not have any main functions. Can someone advice?

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