ROS Tools Lookup: Publish vs. Advertise vs. Broadcast

[HaFred]

NodeHandles Lookup Materials

http://wiki.ros.org/roscpp/Overview/NodeHandles The Doc API

Publish & Advertise

http://wiki.ros.org/ROS/Tutorials/WritingPublisherSubscriber%28c%2B%2B%29 Publisher is more like an identity for a node, specifically with regard to a certain topic while doing such publisher-subscriber identity discussion. The advertise() for the publisher node is shown in the above link's comments.

// The advertise() function is how you tell ROS that you want to publish on a given topic name.

[HaFred]

Broadcast

Broadcast is more like a behavior description.

[HaFred]

camera info manager Lookup

http://docs.ros.org/en/api/camera_info_manager/html/camera__info__manager_8cpp_source.html http://docs.ros.org/en/api/camera_info_manager/html/classcamera__info__manager_1_1CameraInfoManager.html#details

[HaFred]

advertiseService(), suscribe(), and advertise() when in the class's method

as_ = new MoveBaseActionServer(ros::NodeHandle(), "move_base", boost::bind(&MoveBase::executeCb, this, _1), false);

at move_base src

srv_start_spin = priv_nh.advertiseService("spin_srv", &SpinApp::doRobotSpinServiceCb, this); // object to call srv_func on

Needs to specify this as the tracked_object parameter (see here).