[ros-users] Node Handle details

Hi all,

I have a few questions related to node handles which I believe have not been
asked before. For what I have seen, there are many different ways of using
node handles. I could not find the answers in the
http://www.ros.org/wiki/roscpp/Overview/NodeHandles wiki nor in any
previous topic.

1- It is better to have a single node handle for all topics in a node, or it
is more appropriate to use a node handle per topic?

2- Related to these question, should I declare node handles as member class
attributes or just as function variables? I have even seen node handles
created on a function call.

3- Should I better use node handle's namespace rather than node namespace?

4- Which is the main purpose of the private node handle (the one with
private namespace "~")? It is meant to be used only for the parameter
server?

5- Is there any additional feature (apart from queuing relative namespace)
for specifying a node handle as child from the other?

Thanks in advance,
Joan
--
View this message in context: http://ros-users.122217.n3.nabble.com/Node-Handle-details-tp2126850p2126850.html
Sent from the ROS-Users mailing list archive at Nabble.com.