ROS 節點裏調用自定義庫類 無法啓動構造函數現象及解決方法

前提是想模仿move_base_node的寫法，單獨寫節點，然後在節點中定義自定義類對象實現功能

#include <move_base/move_base.h>

int main(int argc, char** argv){
  ros::init(argc, argv, "move_base_node");
  tf::TransformListener tf(ros::Duration(10));

  move_base::MoveBase move_base( tf );

  //ros::MultiThreadedSpinner s;
  ros::spin();

  return(0);
}

然後寫了個測試

test.h

#include <ros/ros.h>

class Test{
    public:
        Test();
        ~Test();
};

test.cpp

#include <test/test.h>

Test::Test(){
    ROS_INFO("hello");
}

Test::~Test(){

}

test_node.cpp

#include <test/test.h>

int main(int argc, char** argv){
    ros::init(argc, argv, "test");
    Test test();

    ros::spin();
    
    return 0;
}

cmakelist.txt

add_library(TEST
  include/test/test.h
  src/test.cpp
)
add_dependencies(TEST ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(TEST
  ${catkin_LIBRARIES}
)

add_executable(test_node
  src/test_node.cpp
)
add_dependencies(test_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(test_node TEST
  ${catkin_LIBRARIES}
)
set_target_properties(test_node PROPERTIES OUTPUT_NAME test)

編譯通過後運行rosrun test test後無法輸出構造函數中的hello，修改cmakelist等無果

後來想move_base裏定義對象時有輸入tf作爲實參，嘗試了下，竟然成功了

##test.h

#include <ros/ros.h>
#include <tf/transform_listener.h>
class Test{
    public:
        Test(tf::TransformListener& tf);
        ~Test();
        tf::TransformListener& tf_;
};

#test.cpp

#include <test/test.h>

Test::Test(tf::TransformListener& tf):
    tf_(tf)
    {
    ros::NodeHandle nh;
    ros::NodeHandle private_nh("~");
    ROS_INFO("hello");
}

Test::~Test(){

}

##test_node.cpp

#include <test/test.h>

int main(int argc, char** argv){
    ros::init(argc, argv, "test");
    tf::TransformListener tf(ros::Duration(10));
    Test test(tf);

    ros::spin();
    
    return 0;
}

原因暫時未知，如果大神，萬望指點一二。