直接定义发布者和订阅者,将回调函数指明清楚就行。
class Detect_Color
image_sub_ = it_.subscribe("/zed/rgb/image_rect_color", 1,&Detect_Color::updateImage, this);
image_pub_ = it_.advertise("/image_converter/output_raw", 1);
threshold_pub_ = it_.advertise("/image_convert/output_threshold",1)
动态配置参数时,根据网络上的众多转发教程,写配置文件,代码中添加boost,重点是cmakelist与package.xml的编写
http://wiki.ros.org/dynamic_reconfigure/Tutorials/SettingUpDynamicReconfigureForANode(cpp)
看一下教程内的代码
#include <ros/ros.h>
#include <dynamic_reconfigure/server.h>
#include <dynamic_tutorials/TutorialsConfig.h>
void callback(dynamic_tutorials::TutorialsConfig &config, uint32_t level) {
ROS_INFO("Reconfigure R