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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?
getNodeHandle() or getPrivateNodeHandle() according to http://answers.ros.org/question/32061...
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++)?
Asked: 2013-06-24 04:41:08 -0500
Seen: 940 times
Last updated: Feb 01 '16
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