Skip to main content
Version: 1.5.0

onInit()

There is no onInit() method like in ROS1. Now, you need to implement the constructor of rclcpp::Node().

However, you cannot obtain a pointer to the node in the constructor (while it is still running). Therefore, we create our own initialize() method as a one-shot timer that contain most of the init routines. We can use the constructor solely for starting the timer.