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Just a small question: is it possible to subscribe to a topic from within a library, say, like a costmap_2d layer plugin, and if it is, how is it done?
I've tried to just call NodeHandle::subscribe from the library. The call itself works, however the callback method is never executed.
Thanks a lot!
Just do it exactly like in any other code: Make a NodeHandle an subscribe using that.
The only things to look out for: Someone must have called ros::init (usually the main program using the library) and at least one NodeHandle must still be alive.
So with regard to the costmap_2d layers I've tried exactly that. Apparently ros::init isn't called anywhere nor is ros::spin and so messages don't arrive in my layer plugin lib. Well, I'm using a different approach now: I create another point cloud from my data and hand it to another ObstacleLayer.
Asked: 2013-09-18 01:35:37 -0500
Seen: 92 times
Last updated: Sep 18 '13
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