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Fix mono topic bug

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This commit is contained in:
kalman 2018-11-29 11:02:31 +08:00
parent 35e069a858
commit 2a1232647a
1 changed files with 4 additions and 2 deletions
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6
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
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@ -371,7 +371,8 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
} }
void publishTopics() { void publishTopics() {
if (camera_publishers_[Stream::LEFT].getNumSubscribers() > 0 && if ((camera_publishers_[Stream::LEFT].getNumSubscribers() > 0 ||
mono_publishers_[Stream::LEFT].getNumSubscribers() > 0) &&
!is_published_[Stream::LEFT]) { !is_published_[Stream::LEFT]) {
api_->SetStreamCallback( api_->SetStreamCallback(
Stream::LEFT, [this](const api::StreamData &data) { Stream::LEFT, [this](const api::StreamData &data) {
@ -401,7 +402,8 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
is_published_[Stream::LEFT] = true; is_published_[Stream::LEFT] = true;
} }
if (camera_publishers_[Stream::RIGHT].getNumSubscribers() > 0 && if ((camera_publishers_[Stream::RIGHT].getNumSubscribers() > 0 ||
mono_publishers_[Stream::RIGHT].getNumSubscribers() > 0) &&
!is_published_[Stream::RIGHT]) { !is_published_[Stream::RIGHT]) {
api_->SetStreamCallback( api_->SetStreamCallback(
Stream::RIGHT, [this](const api::StreamData &data) { Stream::RIGHT, [this](const api::StreamData &data) {