explorerbot's profile - activity

Hi, I have a node which serves primarily as a service, but I would like it to be able to subscribe to a publisher so that I can import an array before the service is called. I tried adding the subscriber to the same nodehandle that has the service, and tried creating a second nodehandle. Either way it seems unable to receive data. Can I not have multiple services/subscribers in a node? If not, what is the best way to do this?

Here is my code in the main function, for reference

ros::NodeHandle servNode;

ros::NodeHandle subNode;

SteeringCaller steerCall;

steerCall.haveX = false; steerCall.haveBoth = false;

ros::Subscriber sub = subNode.subscribe<std_msgs::float64multiarray>("path", 5000, &SteeringCaller::savePath, &steerCall);

ros::ServiceServer service = servNode.advertiseService("steering_control", &SteeringCaller::calcSteering, &steerCall);