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voxel_markers: making subscription lazy

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This commit is contained in:
matlabbe
2020-11-01 15:41:55 -05:00
parent c23dbbc249
commit f5c32dd1c3
1 changed files with 18 additions and 2 deletions
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src/costmap_2d/voxel_markers.cpp
+18 -2
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@@ -144,6 +144,20 @@ void voxelCallback(const ros::Publisher& pub, const costmap_2d::VoxelGridConstPt
ROS_DEBUG("Published %d markers in %f seconds", num_markers, (end - start).toSec());
}
ros::Publisher pub;
ros::Subscriber sub;
void connectCb()
{
ros::NodeHandle n;
sub = n.subscribe < costmap_2d::VoxelGrid > ("voxel_grid", 1, boost::bind(voxelCallback, pub, _1));
}
void disconnectCb()
{
if(pub.getNumSubscribers()==0)
sub.shutdown();
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "3d_markers");
@@ -158,8 +172,10 @@ int main(int argc, char** argv)
ROS_DEBUG("Startup");
ros::Publisher pub = n.advertise < visualization_msgs::Marker > ("visualization_marker", 1);
ros::Subscriber sub = n.subscribe < costmap_2d::VoxelGrid > ("voxel_grid", 1, boost::bind(voxelCallback, pub, _1));
ros::SubscriberStatusCallback connect_cb = boost::bind(connectCb);
ros::SubscriberStatusCallback disconnect_cb = boost::bind(disconnectCb);
pub = n.advertise < visualization_msgs::Marker > ("visualization_marker", 1, connect_cb, disconnect_cb);
g_marker_ns = n.resolveName("voxel_grid");
ros::spin();