roscpp_tutorials / Tutorials / Accessing Private Names With NodeHandle

http://wiki.ros.org/roscpp_tutorials/Tutorials/AccessingPrivateNamesWithNodeHandle
This tutorial will show you how to access private Names with roscpp’s NodeHandle API.

1 Why not just ~name?

2 Accessing Private Names

The solution is to construct a NodeHandle with a private name as its namespace:

   1 ros::init(argc, argv, "my_node_name");
   2 ros::NodeHandle nh1("~");  // must be in main()
   3 ros::NodeHandle nh2("~foo");

nh1’s namespace is /my_node_name, and nh2’s namespace is /my_node_name/foo.

So instead of doing this:

   1 ros::NodeHandle nh;
   2 nh.getParam("~name", ... );

You do this:

   1 ros::NodeHandle nh("~");
   2 nh.getParam("name", ... );