How linemod detect gets a ROS node?

[YantianZha]

Hi all,

There's a nodehandle in linemod_detect.cpp. https://github.com/wg-perception/linemod/blob/master/src/linemod_detect.cpp

This nodehandle (node_) would be used to construct linemod_pointcloud module. But I'm wondering where is the node that matches this nodehandle?

And a strange thing is, when I used the same "node_" to construct my own publisher, and when I rostopic echo the topic of my own publisher based on "node_", I got error "You must call ros::init() before creating the first NodeHandle"? If the nodehandle "node_" can work with linemod_pointcloud publisher, why my own publisher cannot work?

Thanks very much in advance!