Mastering ROS for Robotics Programming - Second Edition

Step 7 - Building and running nodelets

After following this procedure, we can build the package using catkin_make and, if the build is successful, we can generate the shared object libnodelet_hello_world.so file, which represents the plugin.

The first step in running nodelets is to start the nodelet manager. A nodelet manager is a C++ executable program, which will listen to the ROS services and dynamically load nodelets. We can run a standalone manager or can embed it within a running node.

The following commands can start the nodelet manager:

Start roscore:

$ roscore  

Start the nodelet manager, using the following command:

$ rosrun nodelet nodelet manager __name:=nodelet_manager  

If the nodelet manager runs successfully, we will get a message, ...