Getting a Node::SharedPtr from "this"

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An important caveat is you can't call shared_from_this in your class's constructor because the object doesn't yet fully exist to make a shared_ptr from. There you can only use APIs that use either a raw pointer or individual node interfaces.

I realize this thread is old, but what is the reason you can still do this->create_publisher<std_msgs::msg::String>("topic", 10); in the constructor? Wouldn't the same reason - that the object doesn't fully exist yet - still apply?

@swiz23 Looks like I phrased it badly. The object does exist from the time the constructor body starts since initialization is completed at that point. But shared_from_this requires a shared_ptr to already be managing the object and that won't be created until after the constructor returns (assuming you're using something like make_shared).