Skip to content
Snippets Groups Projects
Commit 4b0fb236 authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
Browse files

publish if any subscriber instead of param

parent e3575008
No related branches found
No related tags found
3 merge requests!11new release,!10new release,!4Gauss
...@@ -66,7 +66,7 @@ class Visualizer ...@@ -66,7 +66,7 @@ class Visualizer
// Options // Options
std::string map_frame_id_; 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_; 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_; 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() : ...@@ -12,10 +12,7 @@ Visualizer::Visualizer() :
void Visualizer::initialize(ros::NodeHandle& nh) void Visualizer::initialize(ros::NodeHandle& nh)
{ {
// Load options --------------------------------------------------- // Load options ---------------------------------------------------
nh.param<bool>( "viz_factors", viz_factors_, true);
nh.param<bool>( "viz_overlapped_factors", viz_overlapped_factors_, false); 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 // viz parameters
nh.param<std::string>( "map_frame_id", map_frame_id_, "map"); nh.param<std::string>( "map_frame_id", map_frame_id_, "map");
nh.param<double>( "viz_scale", viz_scale_, 1); nh.param<double>( "viz_scale", viz_scale_, 1);
...@@ -58,12 +55,9 @@ void Visualizer::initialize(ros::NodeHandle& nh) ...@@ -58,12 +55,9 @@ void Visualizer::initialize(ros::NodeHandle& nh)
nh.param<float>( "factor_geom_color_a", factor_geom_color_.a, 1); nh.param<float>( "factor_geom_color_a", factor_geom_color_.a, 1);
// init publishers --------------------------------------------------- // init publishers ---------------------------------------------------
if (viz_factors_) factors_publisher_ = nh.advertise<visualization_msgs::MarkerArray>("factors", 1);
factors_publisher_ = nh.advertise<visualization_msgs::MarkerArray>("factors", 1); landmarks_publisher_ = nh.advertise<visualization_msgs::MarkerArray>("landmarks", 1);
if (viz_landmarks_) trajectory_publisher_ = nh.advertise<visualization_msgs::MarkerArray>("trajectory", 1);
landmarks_publisher_ = nh.advertise<visualization_msgs::MarkerArray>("landmarks", 1);
if (viz_trajectory_)
trajectory_publisher_ = nh.advertise<visualization_msgs::MarkerArray>("trajectory", 1);
// init markers --------------------------------------------------- // init markers ---------------------------------------------------
// factor markers message // factor markers message
...@@ -122,11 +116,11 @@ void Visualizer::initialize(ros::NodeHandle& nh) ...@@ -122,11 +116,11 @@ void Visualizer::initialize(ros::NodeHandle& nh)
void Visualizer::visualize(const ProblemPtr problem) void Visualizer::visualize(const ProblemPtr problem)
{ {
if (viz_factors_) if (factors_publisher_.getNumSubscribers() != 0)
publishFactors(problem); publishFactors(problem);
if (viz_landmarks_) if (landmarks_publisher_.getNumSubscribers() != 0)
publishLandmarks(problem); publishLandmarks(problem);
if (viz_trajectory_) if (trajectory_publisher_.getNumSubscribers() != 0)
publishTrajectory(problem); publishTrajectory(problem);
} }
......
0% Loading or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment