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Fixed #1320

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matlabbe
2025-06-01 16:57:15 -07:00
parent 43d360ebb3
commit b6584b0a10
1 changed files with 11 additions and 1 deletions
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rtabmap_slam/src/CoreWrapper.cpp
+11 -1
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@@ -720,7 +720,17 @@ CoreWrapper::CoreWrapper(const rclcpp::NodeOptions & options) :
tfBroadcaster_->sendTransform(msg);
}
mapToOdomMutex_.unlock();
r.sleep();
try {
r.sleep();
}
catch(std::exception & e) {
if(rclcpp::ok()) {
RCLCPP_ERROR(this->get_logger(),
"Could not sleep: \"%s\", TF \"%s\"->\"%s\" won't be published anymore!",
e.what(), mapFrameId_.c_str(), odomFrameId_.c_str());
} // else: the node may have been shutdown
break;
}
}
});
}