ros的init机制

动机：
这篇博客主要关注一个问题：ros系统中init()的运行过程是怎么样的？调用这个函数后会生成哪些东西或者说系统开辟了哪些服务线程？
语句： ros::init(argc, argv, "add_two_ints_client");
note：这条语句来源于ros的Wiki教程，链接
完整的程序段如下：

/*
 * Copyright (C) 2008, Morgan Quigley and Willow Garage, Inc.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *   * Redistributions of source code must retain the above copyright notice,
 *     this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above copyright
 *     notice, this list of conditions and the following disclaimer in the
 *     documentation and/or other materials provided with the distribution.
 *   * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived from
 *     this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#include "ros/ros.h"
#include "roscpp_tutorials/TwoInts.h"
#include <cstdlib>


int main(int argc, char **argv)
{
   
  ros::init(argc, argv, "add_two_ints_client");
  if (argc != 3)
  {
   
    ROS_INFO("usage: add_two_ints_client X Y");
    return 1;
  }

  ros::NodeHandle n;
  ros::ServiceClient client = n.serviceClient<roscpp_tutorials::TwoInts>("add_two_ints");
  roscpp_tutorials::TwoInts srv;
  srv.request.a = atoi(argv[1]);
  srv.request.b = atoi(argv[2]);
  if (client.call(srv))
  {
   
    ROS_INFO("Sum: %ld", (long int)srv.response.sum);
  }
  else
  {
   
    ROS_ERROR("Failed to call service add_two_ints");
    return 1;
  }

  return 0;
}

要想弄清楚这条语句做了哪些事，需要找到其定义的地方，这个文件包含三个头文件，其中"ros/ros.h"是ros的公共头文件，"roscpp_tutorials/TwoInts.h"是这段程序用到的服务类型文件（不是我们关注的），剩下的“cstdlib”是C++里面的一个常用函数库， 等价于C中的<stdlib.h>。明显init就是定义再"ros/ros.h"中。
ros.h文件的内容如下：

/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2009, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef ROSCPP_ROS_H
#define ROSCPP_ROS_H

#include "ros/time.h"
#include "ros/rate.h"
#include "ros/console.h"
#include "ros/assert.h"

#include "ros/common.h"
#include "ros/types.h"
#include "ros/node_handle.h"
#include "ros/publisher.h"
#include "ros/single_subscriber_publisher.h"
#include "ros/service_server.h"
#include "ros/subscriber.h"
#include "ros/service.h"
#include "ros/init.h"
#include "ros/master.h"
#include "ros/this_node.h"
#include "ros/param.h"
#include "ros/topic.h"
#include "ros/names.h"

#endif

这里是包含了一大堆ros的相关功能的头文件，这也就是为什么只要包含ros.h就可以使用ros的大部分功能了。在这里有一个显目的头文件“#include "ros/init.h"”，好像这个是与探讨的问题相关。
init.h文件的内容如下：

/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2009, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef ROSCPP_INIT_H
#define ROSCPP_INIT_H

#include "ros/forwards.h"
#include "ros/spinner.h"
#include "common.h"

namespace ros
{
   

namespace init_options
{
   
/**
 * \brief Flags for ROS initialization
 */
enum InitOption
{
   
  /**
   * Don't install a SIGINT handler.  You should install your own SIGINT handler in this
   * case, to ensure that the node gets shutdown correctly when it exits.
   */
  NoSigintHandler = 1 << 0,
  /** \brief Anonymize the node name.  Adds a random number to the end of your node's name, to make it unique.
   */
  AnonymousName = 1 << 1,
  /**
   * \brief Don't broadcast rosconsole output to the /rosout topic
   */
  NoRosout = 1 << 2,
};
}
typedef init_options::InitOption InitOption;

/** @brief ROS initialization function.
 *
 * This function will parse any ROS arguments (e.g., topic name
 * remappings), and will consume them (i.e., argc and argv may be modified
 * as a result of this call).
 *
 * Use this version if you are using the NodeHandle API
 *
 * \param argc
 * \param argv
 * \param name Name of this node.  The name must be a base name, ie. it cannot contain namespaces.
 * \param options [optional] Options to start the node with (a set of bit flags from \ref ros::init_options)
 * \throws InvalidNodeNameException If the name passed in is not a valid "base" name
 *
 */
ROSCPP_DECL void init(int &argc, char **argv, const std::string& name, uint32_t options = 0);

/**
 * \brief alternate ROS initialization function.
 *
 * \param remappings A map<string, string> where each one constitutes a name remapping, or one of the special remapping