ROS 개발을 하다보면 하나의 ros::NodeHandle을 여러 군데에서 공유하고 싶을 때가 있다. 이럴 때는 아래에서처럼 NodeHandle의 주솟값을 함수의 입력으로 넘겨주면 된다.

아래 링크에서 사용 예제 확인 가능

https://github.com/wsnewman/ros_class/blob/master/example_ros_class/src/example_ros_class.cpp

int main(int argc, char** argv) 
{
    // ROS set-ups:
    ros::init(argc, argv, "exampleRosClass"); //node name

    ros::NodeHandle nh; // create a node handle; need to pass this to the class constructor

    ROS_INFO("main: instantiating an object of type ExampleRosClass");
    ExampleRosClass exampleRosClass(&nh);  //instantiate an ExampleRosClass object and pass in pointer to nodehandle for constructor to use

    ROS_INFO("main: going into spin; let the callbacks do all the work");
    ros::spin();
    return 0;
} 

//CONSTRUCTOR:  this will get called whenever an instance of this class is created
// want to put all dirty work of initializations here
// odd syntax: have to pass nodehandle pointer into constructor for constructor to build subscribers, etc
ExampleRosClass::ExampleRosClass(ros::NodeHandle* nodehandle):nh_(*nodehandle)
{ // constructor
    ROS_INFO("in class constructor of ExampleRosClass");
    initializeSubscribers(); // package up the messy work of creating subscribers; do this overhead in constructor
    initializePublishers();
    initializeServices();
    
    //initialize variables here, as needed
    val_to_remember_=0.0; 
    
    // can also do tests/waits to make sure all required services, topics, etc are alive
}