From 416a89b6bae243f107eeb56b681cb894c417e005 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= <jvallve@iri.upc.edu>
Date: Wed, 16 Feb 2022 18:12:47 +0100
Subject: [PATCH] small changes in trajectory publisher
---
include/publisher_trajectory.h | 2 --
src/publisher_trajectory.cpp | 6 +++---
2 files changed, 3 insertions(+), 5 deletions(-)
diff --git a/include/publisher_trajectory.h b/include/publisher_trajectory.h
index 2d855cb..eddfa60 100644
--- a/include/publisher_trajectory.h
+++ b/include/publisher_trajectory.h
@@ -50,8 +50,6 @@ class PublisherTrajectory: public Publisher
std::string frame_id_;
- ros::Publisher pub_path_;
-
public:
PublisherTrajectory(const std::string& _unique_name,
const ParamsServer& _server,
diff --git a/src/publisher_trajectory.cpp b/src/publisher_trajectory.cpp
index 2e46086..6fa3576 100644
--- a/src/publisher_trajectory.cpp
+++ b/src/publisher_trajectory.cpp
@@ -52,12 +52,12 @@ void PublisherTrajectory::initialize(ros::NodeHandle& nh, const std::string& top
// PATH
path_msg_.header.frame_id = frame_id_;
- pub_path_ = nh.advertise<nav_msgs::Path>(topic, 1);
+ publisher_ = nh.advertise<nav_msgs::Path>(topic, 1);
}
void PublisherTrajectory::publishDerived()
{
- if (pub_path_.getNumSubscribers() != 0 )
+ if (publisher_.getNumSubscribers() != 0 )
publishTrajectory();
}
@@ -100,7 +100,7 @@ void PublisherTrajectory::publishTrajectory()
}
//Publish path
- pub_path_.publish(path_msg_);
+ publisher_.publish(path_msg_);
//clear msg
path_msg_.poses.clear();
--
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