namespacemy_namespace {classMyNodelet:publicnodelet::Nodelet {public:virtualvoidonInit()override{ros::NodeHandle& nh = getNodeHandle();// 获取NodeHandlepub_ = nh.advertise<std_msgs::String>("topic_name",1);// ...
#include <nodelet/nodelet.h> #include <ros/ros.h> #include <std_msgs/String.h> namespace my_namespace { class MyNodelet : public nodelet::Nodelet { public: virtual void onInit() override { ros::NodeHandle& nh = getNodeHandle(); // 获取NodeHandle pub_ = nh.advertise<std_msgs::...