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Fixed octomap topic not published if not subscribed to one of the grid topic (#717)

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matlabbe
2022-02-20 19:33:55 -05:00
parent 324a0fe49a
commit bc29e8694f
1 changed files with 8 additions and 4 deletions
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src/MapsManager.cpp
+8 -4
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@@ -325,15 +325,17 @@ bool MapsManager::hasSubscribers() const
gridMapPub_->get_subscription_count() != 0 || gridMapPub_->get_subscription_count() != 0 ||
gridProbMapPub_->get_subscription_count() != 0 gridProbMapPub_->get_subscription_count() != 0
#ifdef RTABMAP_OCTOMAP #ifdef RTABMAP_OCTOMAP
#ifdef WITH_OCTOMAP_MSGS
|| ||
#ifdef WITH_OCTOMAP_MSGS
octoMapPubBin_->get_subscription_count() != 0 ||
octoMapPubFull_->get_subscription_count() != 0 ||
#endif
octoMapCloud_->get_subscription_count() != 0 || octoMapCloud_->get_subscription_count() != 0 ||
octoMapFrontierCloud_->get_subscription_count() != 0 || octoMapFrontierCloud_->get_subscription_count() != 0 ||
octoMapObstacleCloud_->get_subscription_count() != 0 || octoMapObstacleCloud_->get_subscription_count() != 0 ||
octoMapGroundCloud_->get_subscription_count() != 0 || octoMapGroundCloud_->get_subscription_count() != 0 ||
octoMapEmptySpace_->get_subscription_count() != 0 || octoMapEmptySpace_->get_subscription_count() != 0 ||
octoMapProj_->get_subscription_count() != 0 octoMapProj_->get_subscription_count() != 0
#endif
#endif #endif
; ;
} }
@@ -361,15 +363,17 @@ std::map<int, rtabmap::Transform> MapsManager::updateMapCaches(
{ {
// all false, update only those where we have subscribers // all false, update only those where we have subscribers
#ifdef RTABMAP_OCTOMAP #ifdef RTABMAP_OCTOMAP
#ifdef WITH_OCTOMAP_MSGS
updateOctomap = updateOctomap =
#ifdef WITH_OCTOMAP_MSGS
octoMapPubBin_->get_subscription_count() != 0 ||
octoMapPubFull_->get_subscription_count() != 0 ||
#endif
octoMapCloud_->get_subscription_count() != 0 || octoMapCloud_->get_subscription_count() != 0 ||
octoMapFrontierCloud_->get_subscription_count() != 0 || octoMapFrontierCloud_->get_subscription_count() != 0 ||
octoMapObstacleCloud_->get_subscription_count() != 0 || octoMapObstacleCloud_->get_subscription_count() != 0 ||
octoMapGroundCloud_->get_subscription_count() != 0 || octoMapGroundCloud_->get_subscription_count() != 0 ||
octoMapEmptySpace_->get_subscription_count() != 0 || octoMapEmptySpace_->get_subscription_count() != 0 ||
octoMapProj_->get_subscription_count() != 0; octoMapProj_->get_subscription_count() != 0;
#endif
#endif #endif
updateGrid = gridMapPub_->get_subscription_count() != 0 || updateGrid = gridMapPub_->get_subscription_count() != 0 ||