map_server: Initialise NodeHandle outside the MapServer constructor #1122
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| @@ -251,7 +252,7 @@ int main(int argc, char **argv) | |||
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| try | |||
| { | |||
| MapServer ms(fname, res); | |||
| MapServer ms(private_nh, fname, res); | |||
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Do we really need to pass in a special node handle? Isn't simply creating a node handle right after ros::init() above sufficient, such that we still have at least one NodeHandle in scope inside the catch()?
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I thought it best of initializing and sharing a single NodeHandle instead, but sure, I could switch to that If you prefer.
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MatthijsBurgh
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MatthijsBurgh
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Currently if an exception is raised inside the
MapServerexecution, it's caught by thetry-catchstatement inmain. However at that point theros::NodeHandleinstance is already destroyed since it's constructed insideMapServer::MapServerand that's initialised inside thetryscope.Because of that the
ROS_ERRORstatement in thecatchdoesn't print anything and the user isn't informed of the exception.In this PR I'm initialising
the NodeHandle outsideMapServerand I'm passing a reference to it during construction.a second NodeHandle outside
MapServerinmain