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Fixed odom args ignored, fixed octomap_full output with right conversion

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This commit is contained in:
matlabbe
2016-07-17 15:39:08 -04:00
parent 20e836b56b
commit d1e656bb64
5 changed files with 8 additions and 4 deletions
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src/MapsManager.cpp
+1 -1
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@@ -872,7 +872,7 @@ void MapsManager::publishMaps(
if(octoMapPubFull_.getNumSubscribers())
{
octomap_msgs::Octomap msg;
octomap_msgs::binaryMapToMsg(*octomap_->octree(), msg);
octomap_msgs::fullMapToMsg(*octomap_->octree(), msg);
msg.header.frame_id = mapFrameId;
msg.header.stamp = stamp;
octoMapPubFull_.publish(msg);