ROS nodelet template

nodelet_template.cpp

#include <ros/ros.h>
#include <nodelet/nodelet.h>
#include <pluginlib/class_list_macros.h>
#include <geometry_msgs/PoseStamped.h>

class Example : public nodelet::Nodelet
{
public:
	Example() {}

private:
	ros::Subscriber example_sub;
	ros::Publisher example_pub;

	void onInit()
	{
		ros::NodeHandle& nh = getNodeHandle();
		ros::NodeHandle& nh_priv = getPrivateNodeHandle();

		double param;
		nh_priv.param("param", param, 100);

		example_sub = nh.subscribe("sub", 1, &Example::callback, this);
		example_pub = nh_priv.advertise<geometry_msgs::PoseStamped>("pub", 1);
	}

	void callback(geometry_msgs::PoseStamped& msg)
	{
		example_pub.publish(msg);
	}
};

PLUGINLIB_EXPORT_CLASS(Example, nodelet::Nodelet)