移植自己的node到nodelet的流程:
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add the necessary #includes: 添加必要头文件
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get rid of int main(): 删除main函数
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subclass nodelet::Nodelet: 继承Nodelet class
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move code from constructor to onInit(): 把原来的node类中的构造函数移植到nodelet的初始化函数中,因为nodelet的构造函数无参
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add the PLUGINLIB_EXPORT_CLASS macro: 使用pluginlib的宏来注册插件
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add <build_depend> and <run_depend> dependencies on nodelet in the package manifest.:添加build_depend 和 run_depend到package.xml文件中
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create the .xml file to define the nodelet as a plugin: 创建对应插件的.xml描述文件
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add the <nodelet> item in the <export> part of the package manifest:将7中写好的xml放在package.xml文件的export部分
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make the necessary changes to CMakeLists.txt (comment out a rosbuild_add_executable, add a rosbuild_add_library) : 在cmakelist中做对应修改
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