From 7d07728fa175347ee1ed02073e6c7070825dd19c Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Thu, 2 Jul 2020 16:03:21 +0200
Subject: [PATCH] only advertising publishers if params viz_XX true
---
src/visualizer.cpp | 13 ++++++++-----
1 file changed, 8 insertions(+), 5 deletions(-)
diff --git a/src/visualizer.cpp b/src/visualizer.cpp
index a3d5896..276bc66 100644
--- a/src/visualizer.cpp
+++ b/src/visualizer.cpp
@@ -11,11 +11,6 @@ Visualizer::Visualizer() :
void Visualizer::initialize(ros::NodeHandle& nh)
{
- // init publishers ---------------------------------------------------
- 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);
-
// Load options ---------------------------------------------------
nh.param<bool>( "viz_factors", viz_factors_, true);
nh.param<bool>( "viz_overlapped_factors", viz_overlapped_factors_, false);
@@ -61,6 +56,14 @@ void Visualizer::initialize(ros::NodeHandle& nh)
nh.param<float>( "factor_geom_color_b", factor_geom_color_.b, 1.0);
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);
+
// init markers ---------------------------------------------------
// factor markers message
factor_marker_.type = visualization_msgs::Marker::LINE_LIST;
--
GitLab