Auto Ware 代码解析系列-can_info_translator节点

节点订阅vehicle_receiver发布过来的/can_info话题，主节点如下：

// ROS includes
#include <ros/ros.h>

#include "can_info_translator_core.h"

int main(int argc, char **argv)
{
  ros::init(argc, argv, "can_info_translator");
  autoware_connector::VelPoseConnectNode n;
  n.run();

  return 0;
}

代码中autoware_connector::VelPoseConnectNode n生命了autoware_connector::VelPoseConnectNode对象，并调用了类的成员函数 n.run()，下面对autoware_connector::VelPoseConnectNode类进行解析：
在can_info_translator_core.h中声明如下：

class VelPoseConnectNode
{
public:

  VelPoseConnectNode();
  ~VelPoseConnectNode();

  void run();

private:

/////声明handle
  ros::NodeHandle nh_;
  ros::NodeHandle private_nh_;

  // publisher
  ros::Publisher pub1_, pub2_, pub3_;

  // subscriber
  ros::Subscriber sub1_,sub2_;

  // variables
  VehicleInfo v_info_;
  Odometry odom