在ros中ServiceServer用boost::bind绑定多个参数

在ros绑定advertiseService的回调函数时，通过boost::bind函数，将需要传递的其他参数，在触发回调的时候，一并传入。

 
bool callback(path_planner::CreateP2PPath::Request &req, path_planner::CreateP2PPath::Response& res, CPathTools& path){
  //do something
  return true;       
}
 
int main(int argc, char **argv) {
  ros::init(argc, argv, "path_planner_node");
  ros::NodeHandle nh;
 
  CPathTools path(atof(argv[1]), atof(argv[2]), atof(argv[3]), atof(argv[4]), atof(argv[5]));
 
  auto service = nh.advertiseService("CreateP2PPath", boost::bind(callback, _1, _2, path));
 
  ros::spin();
 
  return 0;
}