ROS1 nodelet用法

1、cpp文件中添加nodelet子类

注意nodehandle要用nodelet的getNodeHandle()所提供的。因为nodelet manager会给每个nodelet节点的nodehandle单独新建一个线程处理它的回调。

#include <ros/ros.h>
#include "sss_sim_env/TimeServer.hpp"

#include <nodelet/nodelet.h>

// 定义了一个SimClock类，继承了nodelet
class SimClock :public nodelet::Nodelet
{
public:
    SimClock(){}

public:
    void onInit()
    {
        ros::NodeHandle nh = getNodeHandle();
        ros::NodeHandle nh_private = getPrivateNodeHandle();
        // ros::NodeHandle nh = getMTNodeHandle();
        // ros::NodeHandle nh_private = getMTPrivateNodeHandle();

        time_server = std::make_unique<TimeServer>(nh, nh_private);

        ROS_INFO("SimClock Inited");
        // NODELET_DEBUG("My debug statement");
        // NODELET_DEBUG_STREAM("my debug statement " << (double) 1.0)
        // NODELET_DEBUG_COND( 1 == 1, "my debug_statement")