fixed missing grid_map_core definitions on rtabmap_slam side

rtabmap_conversions/CMakeLists.txt

@@ -7,7 +7,7 @@ find_package(catkin REQUIRED COMPONENTS
              image_geometry rtabmap_msgs
 )
 
-find_package(RTABMap 0.21.23 REQUIRED)
+find_package(RTABMap 0.21.3 REQUIRED)
 
 catkin_package(
   INCLUDE_DIRS include

rtabmap_slam/CMakeLists.txt

@@ -60,6 +60,12 @@ MESSAGE(STATUS "WITH octomap_msgs")
 ADD_DEFINITIONS("-DWITH_OCTOMAP_MSGS")
 ENDIF(octomap_msgs_FOUND)
 
+# If grid_map_core is found, add definition
+IF(grid_map_core_FOUND)
+MESSAGE(STATUS "WITH grid_map_core")
+ADD_DEFINITIONS("-DWITH_GRID_MAP_CORE")
+ENDIF(grid_map_core_FOUND)
+
 # If apriltag_ros is found, add definition
 IF(apriltag_ros_FOUND)
 MESSAGE(STATUS "WITH apriltag_ros")

rtabmap_util/src/MapsManager.cpp

@@ -427,7 +427,8 @@ bool MapsManager::hasSubscribers() const
 			octoMapObstacleCloud_.getNumSubscribers() != 0 ||
 			octoMapGroundCloud_.getNumSubscribers() != 0 ||
 			octoMapEmptySpace_.getNumSubscribers() != 0 ||
-			octoMapProj_.getNumSubscribers() != 0;
+			octoMapProj_.getNumSubscribers() != 0 ||
+			elevationMapPub_.getNumSubscribers() != 0;
 }
 
 bool MapsManager::isMapUpdated() const