在类里面实现ros的subscribe或message_filter的回调遇到的坑

坑1：没有在ros的subscribe的输入参数里写上这个类对应的指针，也就是this关键词。

Segmentator{
public:
  void run(){
    pub = nh2.advertise<sensor_msgs::PointCloud2>("/cloud_without_floor", 1000);
    sub = nh.subscribe("/camera/stream/1/cloud", 1000, &Segmentator::chatterCallback);}

private:

  void chatterCallback(const sensor_msgs::PointCloud2ConstPtr &msg){...}

 

报错：error: no matching function for call to 'ros::NodeHandle::subscribe(const char [23], int, void (Segmentator::*)(const PointCloud2ConstPtr&))'
     sub = nh.subscribe("/camera/stream/1/cloud", 1000, &Segmentator::chatterCallback);
 

办法：sub = nh.subscribe("/camera/stream/1/cloud", 1000, &Segmentator::chatterCallback);} ->

sub = nh.subscribe("/camera/stream/1/cloud", 1000, &Segmentator::chatterCallback, this);}

坑