fix(slam): rect gray topic sub logic

2019-04-15 13:35:05 +08:00
parent 6dab54117d
commit 0c0c299c84
1 changed files with 2 additions and 1 deletions
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
@@ -619,7 +619,8 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
  }

  void publishOthers(const Stream &stream) {
-    if (getStreamSubscribers(stream) > 0 && !is_published_[stream]) {
+    if ((getStreamSubscribers(stream) > 0 && !is_published_[stream]) ||
+        mono_publishers_[stream].getNumSubscribers() > 0) {
      api_->EnableStreamData(stream);
      api_->SetStreamCallback(
          stream, [this, stream](const api::StreamData &data) {