node_handle_namespaces.cpp File Reference

#include "ros/ros.h"
#include "std_msgs/String.h"

Include dependency graph for node_handle_namespaces.cpp:

Go to the source code of this file.

Functions
int	main (int argc, char **argv)

---

Function Documentation

int main	(	int	argc,
		char **	argv
	)

This tutorial shows the use of NodeHandle namespaces.

Each NodeHandle can be assigned a namespace the same way every node can be assigned a namespace (this is usually done through the environment variable ROS_NAMESPACE).

A namespace per NodeHandle allows you to separate different pieces of your application into different namespaces.

This prints /level1/a

If another NodeHandle is provided as the first argument to the constructor, it uses that NodeHandle's namespace as a parent namespace. Therefore, this NodeHandle will be in the /level1/level2 namespace.

This prints /level1/level2/a

Accessing private names (inside the nodes' name) is possible by creating a NodeHandle whose name starts with a tilde (~).

This prints /node_handle_namespaces/a

Definition at line 35 of file node_handle_namespaces.cpp.