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Commit 4b0fb236 authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
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publish if any subscriber instead of param

parent e3575008
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3 merge requests!11new release,!10new release,!4Gauss
......@@ -66,7 +66,7 @@ class Visualizer
// Options
std::string map_frame_id_;
bool viz_factors_, viz_landmarks_, viz_trajectory_, viz_overlapped_factors_;
bool viz_overlapped_factors_;
double viz_scale_, factors_width_, factors_absolute_height_, landmark_text_z_offset_, landmark_width_, landmark_length_, frame_width_, frame_length_;
std_msgs::ColorRGBA frame_color_, factor_abs_color_, factor_motion_color_, factor_loop_color_, factor_lmk_color_, factor_geom_color_;
......
......@@ -12,10 +12,7 @@ Visualizer::Visualizer() :
void Visualizer::initialize(ros::NodeHandle& nh)
{
// Load options ---------------------------------------------------
nh.param<bool>( "viz_factors", viz_factors_, true);
nh.param<bool>( "viz_overlapped_factors", viz_overlapped_factors_, false);
nh.param<bool>( "viz_landmarks", viz_landmarks_, true);
nh.param<bool>( "viz_trajectory", viz_trajectory_, true);
// viz parameters
nh.param<std::string>( "map_frame_id", map_frame_id_, "map");
nh.param<double>( "viz_scale", viz_scale_, 1);
......@@ -58,12 +55,9 @@ void Visualizer::initialize(ros::NodeHandle& nh)
nh.param<float>( "factor_geom_color_a", factor_geom_color_.a, 1);
// init publishers ---------------------------------------------------
if (viz_factors_)
factors_publisher_ = nh.advertise<visualization_msgs::MarkerArray>("factors", 1);
if (viz_landmarks_)
landmarks_publisher_ = nh.advertise<visualization_msgs::MarkerArray>("landmarks", 1);
if (viz_trajectory_)
trajectory_publisher_ = nh.advertise<visualization_msgs::MarkerArray>("trajectory", 1);
factors_publisher_ = nh.advertise<visualization_msgs::MarkerArray>("factors", 1);
landmarks_publisher_ = nh.advertise<visualization_msgs::MarkerArray>("landmarks", 1);
trajectory_publisher_ = nh.advertise<visualization_msgs::MarkerArray>("trajectory", 1);
// init markers ---------------------------------------------------
// factor markers message
......@@ -122,11 +116,11 @@ void Visualizer::initialize(ros::NodeHandle& nh)
void Visualizer::visualize(const ProblemPtr problem)
{
if (viz_factors_)
if (factors_publisher_.getNumSubscribers() != 0)
publishFactors(problem);
if (viz_landmarks_)
if (landmarks_publisher_.getNumSubscribers() != 0)
publishLandmarks(problem);
if (viz_trajectory_)
if (trajectory_publisher_.getNumSubscribers() != 0)
publishTrajectory(problem);
}
......
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