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解析nav2_controller
source link: https://charon-cheung.github.io/2022/06/23/ROS/ROS2/%E8%A7%A3%E6%9E%90nav2_controller/
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解析nav2_controller | 沉默杀手
nav2_controller主要是实现了一个中间件的功能，具体的工作还是各种插件完成的，统一了接口，固定了流程，使得开发变得规范
nav2_controller/main.cpp
int main(int argc, char ** argv)
{
rclcpp::init(argc, argv);
auto node = std::make_shared<nav2_controller::ControllerServer>();
rclcpp::spin(node->get_node_base_interface());
rclcpp::shutdown();
return 0;
}
主要看
ControllerServer的构造函数单独开了一个cost_map的线程
rclcpp_lifecycle::LifecyclePublisher::on_activate
auto node = shared_from_this();
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