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OdometryROS: don't publish odom if velocity is null too when publish_null_when_lost is false

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matlabbe
2018-03-31 15:44:53 -04:00
parent 6ec6387fc6
commit dc29b74111
1 changed files with 4 additions and 1 deletions
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src/OdometryROS.cpp
+3
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@@ -527,8 +527,11 @@ void OdometryROS::processData(const SensorData & data, const ros::Time & stamp)
odom.twist.covariance.at(35) = setTwist?info.reg.covariance.at<double>(5,5):BAD_COVARIANCE; // yawyaw
//publish the message
if(setTwist || publishNullWhenLost_)
{
odomPub_.publish(odom);
}
}
// local map / reference frame
if(odomLocalMap_.getNumSubscribers() && !info.localMap.empty())