send merged map on masking update

homer_map_manager/src/Managers/MapManager.cpp

@@ -3,7 +3,7 @@
 
 MapManager::MapManager(ros::NodeHandle *nh)
 {
-  m_MapPublisher = nh->advertise<nav_msgs::OccupancyGrid>("/map", 1, true);
+  m_Mapnublisher = nh->advertise<nav_msgs::OccupancyGrid>("/map", 1, true);
 
   m_map_layers.push_back(homer_mapnav_msgs::MapLayers::SLAM_LAYER);
   m_map_layers.push_back(homer_mapnav_msgs::MapLayers::KINECT_LAYER);

homer_mapping/src/slam_node.cpp

@@ -305,11 +305,9 @@ void SlamNode::callbackLoadedMap(const nav_msgs::OccupancyGrid::ConstPtr& msg)
 void SlamNode::callbackMasking(const nav_msgs::OccupancyGrid::ConstPtr& msg)
 {
   m_HyperSlamFilter->applyMasking(msg);
+  sendMapDataMessage(ros::Time::now());
 }
 
-/**
- * @brief main function
- */
 int main(int argc, char** argv)
 {
   ros::init(argc, argv, "homer_mapping");