Sending data to plugin

edit

Hello,

I have created my modified path planner based on carrot_planner. But for creating a plan I need some aditional information that I get from some rostopic. Generally you create nod in main and register your subscriber tehre, but as far as I know it is impossible to create main function inside plugin.

Is there a way I could listen to some topic from inside a plugin? Or any other way I could send my plan from (example:) "my_makeplan.cpp" to my "plugin my_navigator"? Where my_makeplan.cpp would be regular executable with main().

EDIT: here is my initialize method, strangely if I write publisher there is no error while compiling, but I don't see them in I write rostopic list. If I add subscriber I get this error:

error: no matching function for call to ‘ros::NodeHandle::subscribe(const char [5], int, <unresolved overloaded="" function="" type="">)’

Here is my initialize method:

    void MyNavigator::my_plan(const nav_msgs::OccupancyGrid::ConstPtr& msg){

    }

  void MyNavigator::initialize(std::string name, costmap_2d::Costmap2DROS* costmap_ros){
    if(!initialized_){
      costmap_ros_ = costmap_ros;
      ros::NodeHandle private_nh("~/" + name);
      private_nh.param("step_size", step_size_, costmap_ros_->getResolution());
      private_nh.param("min_dist_from_robot", min_dist_from_robot_, 0.10);
      costmap_ros_->getCostmapCopy(costmap_);
      world_model_ = new base_local_planner::CostmapModel(costmap_); 
      //we'll get the parameters for the robot radius from the costmap we're associated with
      inscribed_radius_ = costmap_ros_->getInscribedRadius();
      circumscribed_radius_ = costmap_ros_->getCircumscribedRadius();
      footprint_spec_ = costmap_ros_->getRobotFootprint();

      initialized_ = true;

            ros::Subscriber sub1 = private_nh.subscribe("/map",1,my_plan);
            ros::Publisher pub1 = private_nh.advertise<nav_msgs::OccupancyGrid> ("moja_mapa", 1);
            ros::Publisher path_publisher1 = private_nh.advertise<nav_msgs::Path> ("moj_plan_path", 1);

    }
    else
      ROS_WARN("This planner has already been initialized... doing nothing");
  }

and here is my .h file (without includes):

namespace my_navigator
{
    class MyNavigator : public nav_core::BaseGlobalPlanner
        {
            public:
                MyNavigator();
                MyNavigator(std::string name, costmap_2d::Costmap2DROS* costmap_ros);
                void initialize(std::string name, costmap_2d::Costmap2DROS* costmap_ros);
                bool makePlan(const geometry_msgs::PoseStamped& start, 
          const geometry_msgs::PoseStamped& goal, std::vector<geometry_msgs::PoseStamped>& plan);
                void my_plan(const nav_msgs::OccupancyGrid::ConstPtr& msg);
            private:
                costmap_2d::Costmap2DROS* costmap_ros_;
                double step_size_, min_dist_from_robot_;
                costmap_2d::Costmap2D costmap_;
                base_local_planner::WorldModel* world_model_;
                double inscribed_radius_, circumscribed_radius_, inflation_radius_;
                double footprintCost(double x_i, double y_i, double theta_i);
                std::vector<geometry_msgs::Point> footprint_spec_;
                bool initialized_;
        };

};

#endif

What am I doing wrong?