Added rtabmap_ros/rtabmap nodelet #96 and test_rtabmap_nodelets.launch file as an example

src/impl/CommonDataSubscriberDepth.cpp

@@ -230,6 +230,8 @@ void CommonDataSubscriber::depthOdomDataInfoCallback(
 }
 
 void CommonDataSubscriber::setupDepthCallbacks(
+		ros::NodeHandle & nh,
+		ros::NodeHandle & pnh,
 		bool subscribeOdom,
 		bool subscribeUserData,
 		bool subscribeScan2d,
@@ -239,8 +241,6 @@ void CommonDataSubscriber::setupDepthCallbacks(
 		bool approxSync)
 {
 	ROS_INFO("Setup depth callback");
-	ros::NodeHandle nh; // public
-	ros::NodeHandle pnh("~"); // private
 
 	std::string rgbPrefix = "rgb";
 	std::string depthPrefix = "depth";

src/impl/CommonDataSubscriberRGBD.cpp

@@ -249,6 +249,8 @@ void CommonDataSubscriber::rgbdOdomDataInfoCallback(
 }
 
 void CommonDataSubscriber::setupRGBDCallbacks(
+		ros::NodeHandle & nh,
+		ros::NodeHandle & pnh,
 		bool subscribeOdom,
 		bool subscribeUserData,
 		bool subscribeScan2d,
@@ -258,8 +260,6 @@ void CommonDataSubscriber::setupRGBDCallbacks(
 		bool approxSync)
 {
 	ROS_INFO("Setup rgbd callback");
-	ros::NodeHandle nh; // public
-	ros::NodeHandle pnh("~"); // private
 
 	if(subscribeOdom || subscribeUserData || subscribeScan2d || subscribeScan3d || subscribeOdomInfo)
 	{

src/impl/CommonDataSubscriberRGBD2.cpp

@@ -259,6 +259,8 @@ void CommonDataSubscriber::rgbd2OdomDataInfoCallback(
 }
 
 void CommonDataSubscriber::setupRGBD2Callbacks(
+		ros::NodeHandle & nh,
+		ros::NodeHandle & pnh,
 		bool subscribeOdom,
 		bool subscribeUserData,
 		bool subscribeScan2d,
@@ -268,8 +270,6 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
 		bool approxSync)
 {
 	ROS_INFO("Setup rgbd2 callback");
-	ros::NodeHandle nh; // public
-	ros::NodeHandle pnh("~"); // private
 
 	rgbdSubs_.resize(2);
 	for(int i=0; i<2; ++i)

src/impl/CommonDataSubscriberStereo.cpp

@@ -86,14 +86,14 @@ void CommonDataSubscriber::stereoOdomInfoCallback(
 }
 
 void CommonDataSubscriber::setupStereoCallbacks(
+		ros::NodeHandle & nh,
+		ros::NodeHandle & pnh,
 		bool subscribeOdom,
 		bool subscribeOdomInfo,
 		int queueSize,
 		bool approxSync)
 {
 	ROS_INFO("Setup stereo callback");
-	ros::NodeHandle nh; // public
-	ros::NodeHandle pnh("~"); // private
 
 	ros::NodeHandle left_nh(nh, "left");
 	ros::NodeHandle right_nh(nh, "right");