C++ (Cpp) output_nh примеры использования

Пример #1

Файл: mimic.cpp Проект: aaronma37/muro_lab_summer

Mimic::Mimic() 
{ 
  ros::NodeHandle input_nh("input"); 
  ros::NodeHandle output_nh("output"); 
  vel_pub_ = output_nh.advertise<turtlesim::Velocity>("command_velocity", 1); 
  pose_sub_ = input_nh.subscribe<turtlesim::Pose>("pose", 1, &Mimic::poseCallback, this); 
} 

Пример #2

Файл: mimic_param.cpp Проект: dougbot01/launch_tutorial

Mimic::Mimic()
{
  ros::NodeHandle input_nh("input");
  ros::NodeHandle output_nh("output");

  ros::NodeHandle nh("~");
  speed_scale = 1.0;
  nh.getParam("speed_scale", speed_scale);
  ROS_INFO("Speed scale is %.1f", speed_scale);
    
  vel_pub_ = output_nh.advertise<turtlesim::Velocity>("command_velocity", 1);
  pose_sub_ = input_nh.subscribe<turtlesim::Pose>("pose", 1, &Mimic::poseCallback, this);
}