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I need a NodeHandle in order to make my library work properly. I am also using this library in a rqt plugin. Should I just create a new Nodehandle (don't think that this is a good idea) or is there any API which gives me a valid NodeHandle.
It seems like I can just instantiate a new NodeHandle. According to the documentation there is no problem with that:
When a NodeHandle is constructed, it checks to see if the global node state has already been started. If so, it increments a global reference count. If not, it starts the node with ros::start() and sets the reference count to 1.
But still are there any better options and do I need to be aware of anything?
There's no special need for handling nodes in your rqt plugins. Implementation of node in ROS is well modularized so that you can operate nodes either via NodeHandle (C++) or via rospy.
Also, inspired by your question, I added some practices you may want to consider on making rqt plugins here.
So you would also suggest just to construct a NodeHandle (in C++)?
getNodeHandle() or getPrivateNodeHandle() according to http://answers.ros.org/question/32061...
Asked: 2013-06-24 04:41:08 -0600
Seen: 976 times
Last updated: Feb 01 '16
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