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rtabmap: Fixed inter_odom topics dropped when rtabmap updates are long.

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matlabbe
2021-12-30 13:23:02 -05:00
parent 498672e418
commit 9a3e47e054
1 changed files with 2 additions and 2 deletions
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src/CoreWrapper.cpp
+2 -2
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@@ -582,8 +582,8 @@ void CoreWrapper::onInit()
NODELET_INFO("Subscribe to inter odom + info messages");
interOdomSync_ = new message_filters::Synchronizer<MyExactInterOdomSyncPolicy>(MyExactInterOdomSyncPolicy(100), interOdomSyncSub_, interOdomInfoSyncSub_);
interOdomSync_->registerCallback(boost::bind(&CoreWrapper::interOdomInfoCallback, this, _1, _2));
interOdomSyncSub_.subscribe(nh, "inter_odom", 1);
interOdomInfoSyncSub_.subscribe(nh, "inter_odom_info", 1);
interOdomSyncSub_.subscribe(nh, "inter_odom", 100);
interOdomInfoSyncSub_.subscribe(nh, "inter_odom_info", 100);
}
else
{