Robot Operating System Cookbook

Building and running nodelets

We will make the entry for the source code files in CMakeLists.txt, so that we can build a nodelet package:

## Declare a cpp library 
 add_library(nodelet_hello_ros 
   src/hello_ros.cpp 
 ) 
 
## Specify libraries to link a library or executable target against 
 target_link_libraries(nodelet_hello_ros 
   ${catkin_LIBRARIES} 
 ) 

Consequently, we could build the package using catkin_make and, if the build is successful, it would generate a shared object libnodelet_hello_world.so file, which is indeed a plugin.

The following commands can be used to start the nodelet manager:

$ roscore
$ rosrun nodelet nodelet manager __name:=nodelet_manager

If nodelet manager runs successfully, we will see a message as shown in the following screenshot: ...