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Fixed build without octomap-msgs

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This commit is contained in:
matlabbe
2021-10-07 08:44:47 -04:00
parent 2f58aba80d
commit b531f96c31
2 changed files with 8 additions and 3 deletions
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src/MapsManager.cpp
+8 -2
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@@ -323,13 +323,17 @@ bool MapsManager::hasSubscribers() const
cloudObstaclesPub_->get_subscription_count() != 0 ||
cloudGroundPub_->get_subscription_count() != 0 ||
gridMapPub_->get_subscription_count() != 0 ||
gridProbMapPub_->get_subscription_count() != 0 ||
gridProbMapPub_->get_subscription_count() != 0
#ifdef WITH_OCTOMAP_MSGS
||
octoMapCloud_->get_subscription_count() != 0 ||
octoMapFrontierCloud_->get_subscription_count() != 0 ||
octoMapObstacleCloud_->get_subscription_count() != 0 ||
octoMapGroundCloud_->get_subscription_count() != 0 ||
octoMapEmptySpace_->get_subscription_count() != 0 ||
octoMapProj_->get_subscription_count() != 0;
octoMapProj_->get_subscription_count() != 0
#endif
;
}
std::map<int, Transform> MapsManager::getFilteredPoses(const std::map<int, Transform> & poses)
@@ -354,6 +358,7 @@ std::map<int, rtabmap::Transform> MapsManager::updateMapCaches(
if(!updateGrid && !updateOctomap)
{
// all false, update only those where we have subscribers
#ifdef WITH_OCTOMAP_MSGS
updateOctomap =
octoMapCloud_->get_subscription_count() != 0 ||
octoMapFrontierCloud_->get_subscription_count() != 0 ||
@@ -361,6 +366,7 @@ std::map<int, rtabmap::Transform> MapsManager::updateMapCaches(
octoMapGroundCloud_->get_subscription_count() != 0 ||
octoMapEmptySpace_->get_subscription_count() != 0 ||
octoMapProj_->get_subscription_count() != 0;
#endif
updateGrid = gridMapPub_->get_subscription_count() != 0 ||
gridProbMapPub_->get_subscription_count() != 0;