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fix(slam): rect gray topic sub logic

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This commit is contained in:
TinyOh 2019-04-15 13:35:05 +08:00
parent 6dab54117d
commit 0c0c299c84
1 changed files with 2 additions and 1 deletions
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3
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
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@ -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) {