From 33fefdebde64f4ba4bf19c4e9d11ddc0467e9138 Mon Sep 17 00:00:00 2001
From: Lisa <robbie@uni-koblenz.de>
Date: Tue, 21 Mar 2017 14:02:48 +0100
Subject: [PATCH] send merged map on masking update
---
homer_map_manager/src/Managers/MapManager.cpp | 2 +-
homer_mapping/src/slam_node.cpp | 4 +---
2 files changed, 2 insertions(+), 4 deletions(-)
diff --git a/homer_map_manager/src/Managers/MapManager.cpp b/homer_map_manager/src/Managers/MapManager.cpp
index ba3adce1..2dfe1930 100644
--- a/homer_map_manager/src/Managers/MapManager.cpp
+++ b/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);
diff --git a/homer_mapping/src/slam_node.cpp b/homer_mapping/src/slam_node.cpp
index 3e079014..05994a4a 100644
--- a/homer_mapping/src/slam_node.cpp
+++ b/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");
--
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