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point_cloud_assembler: fixed subscription warning still shown while receiving correctly the topics

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This commit is contained in:
matlabbe
2019-02-21 15:24:23 -05:00
parent 05de922992
commit 1f597a58d0
1 changed files with 3 additions and 1 deletions
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src/nodelets/point_cloud_assembler.cpp
+3 -1
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@@ -110,11 +110,12 @@ private:
getName().c_str(),
syncCloudSub_.getTopic().c_str(),
syncOdomSub_.getTopic().c_str());
warningThread_ = new boost::thread(boost::bind(&PointCloudAssembler::warningLoop, this, subscribedTopicsMsg));
}
cloudPub_ = nh.advertise<sensor_msgs::PointCloud2>("assembled_cloud", 1);
warningThread_ = new boost::thread(boost::bind(&PointCloudAssembler::warningLoop, this, subscribedTopicsMsg));
NODELET_INFO("%s", subscribedTopicsMsg.c_str());
}
@@ -122,6 +123,7 @@ private:
const sensor_msgs::PointCloud2ConstPtr & cloudMsg,
const nav_msgs::OdometryConstPtr & odomMsg)
{
callbackCalled_ = true;
rtabmap::Transform odom = rtabmap_ros::transformFromPoseMsg(odomMsg->pose.pose);
if(!odom.isNull())
{