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I have a program with a main.cpp and a message.cpp files.

The second has a function that is called every time an event happens and I have to send a ros message.

My first try was to declare the publisher and send the message in message.cpp:

ros::NodeHandle nh("~");
ros::Publisher pub = nh.advertise<myProject_ros::PathMessage>("/myProject_ros/message", 1000);
// creating my message
pub.publish(message);

But doing it like that, I had to insert a delay between the publisher and the publish, otherwise the listener had no time to connect.

In order to avoid introducing delays, I started creating the publisher in my main file:

ros::NodeHandle nh("~");
ros::Publisher pub = nh.advertise<myProject_ros::PathMessage>("/myProject_ros/message", 1000);

And then I wanted to publish in message.cpp:

pub.publish(message);

But then

error: ‘pub’ was not declared in this scope

So now I am creating the publisher both in the main so listener is ready and in message.cpp again to avoid pub not declared. It is working fine, I don't need delay now, but it looks like a "dirty" solution.

What is the proper way to do this? I am new to ROS and C++.

I had exactly the same problem, just in my case it is a service instead of a publisher subscriber. This definitely shoul

I had the exactly same problem, just in my case it is a service instead of a publisher subscriber. This definitely shoul

I had the exactly same problem, just in my case it is a service instead of a publisher subscriber. This definetly should

@gvdhoorn it is not, the .msg files are in a different folder with .msg extension.

I added CmakeLists.txt

Migrating from catkin_make to catkin build headers I am following this guide to migrate from catkin_make to catkin build

Migrating from catkin_make to catkin build headers I am following this guide to migrate from catkin_make to catkin build

I am working with a complex software where I have to make some changes. In order to build it, I was instructed to use catkin_make, which was (and is) working well. Now I have to use MAVROS, and the guide says to use catkin build instead.

However, I am unable to do so, it keeps giving a lot of errors, most of them about not found header files.

Why is this happening? shouldn't both methods build fine? (or fail both)

Is it possible to work with MAVROS with catkin_make?

(I know you can't work with both at the same time, so before switching I am doing catkin clean --all)

catkin_make works but catkin build fails I am working with a complex software where I have to make some changes. In orde

I thought about waiting for getNumSubscribers>0 but sometimes code will run without any listener, so I cannot do that

Thank you! The full code is very long and copyright protected, I just have to add this feature of sending ROS messages a

Declaring publisher twice I have a program with a main.cpp and a message.cpp files. The second has a function that is c