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Fixed republished data missing

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matlabbe
2022-10-30 14:00:57 -07:00
parent 7e14509e44
commit 276a5f4ac2
1 changed files with 1 additions and 7 deletions
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src/CoreWrapper.cpp
+1 -7
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@@ -3956,16 +3956,10 @@ void CoreWrapper::publishStats(const ros::Time & stamp)
msg->header.stamp = stamp; msg->header.stamp = stamp;
msg->header.frame_id = mapFrameId_; msg->header.frame_id = mapFrameId_;
std::map<int, Signature> signatures;
if(stats.getLastSignatureData().id() > 0)
{
signatures.insert(std::make_pair(stats.getLastSignatureData().id(), stats.getLastSignatureData()));
}
rtabmap_ros::mapDataToROS( rtabmap_ros::mapDataToROS(
stats.poses(), stats.poses(),
stats.constraints(), stats.constraints(),
signatures, stats.getSignaturesData(),
stats.mapCorrection(), stats.mapCorrection(),
*msg); *msg);