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aruco_pose, clover: Move subscriptions to the end of init

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This commit is contained in:
Alexey Rogachevskiy
2020-11-05 23:22:30 +03:00
committed by Oleg Kalachev
parent 7dbd983ec5
commit 1a2e87bb6a
3 changed files with 13 additions and 12 deletions
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12
aruco_pose/src/aruco_detect.cpp
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@@ -111,18 +111,18 @@ public:
image_transport::ImageTransport it(nh_);
image_transport::ImageTransport it_priv(nh_priv_);
map_markers_sub_ = nh_.subscribe("map_markers", 1, &ArucoDetect::mapMarkersCallback, this);
debug_pub_ = it_priv.advertise("debug", 1);
markers_pub_ = nh_priv_.advertise<aruco_pose::MarkerArray>("markers", 1);
vis_markers_pub_ = nh_priv_.advertise<visualization_msgs::MarkerArray>("visualization", 1);
img_sub_ = it.subscribeCamera("image_raw", 1, &ArucoDetect::imageCallback, this);
dyn_srv_ = std::make_shared<dynamic_reconfigure::Server<aruco_pose::DetectorConfig>>(nh_priv_);
dynamic_reconfigure::Server<aruco_pose::DetectorConfig>::CallbackType cb;
cb = std::bind(&ArucoDetect::paramCallback, this, std::placeholders::_1, std::placeholders::_2);
dyn_srv_->setCallback(cb);
debug_pub_ = it_priv.advertise("debug", 1);
markers_pub_ = nh_priv_.advertise<aruco_pose::MarkerArray>("markers", 1);
vis_markers_pub_ = nh_priv_.advertise<visualization_msgs::MarkerArray>("visualization", 1);
img_sub_ = it.subscribeCamera("image_raw", 1, &ArucoDetect::imageCallback, this);
map_markers_sub_ = nh_.subscribe("map_markers", 1, &ArucoDetect::mapMarkersCallback, this);
NODELET_INFO("ready");
}

10
aruco_pose/src/aruco_map.cpp
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@@ -124,6 +124,11 @@ public:
vis_markers_pub_ = nh_priv_.advertise<visualization_msgs::MarkerArray>("visualization", 1, true);
debug_pub_ = it_priv.advertise("debug", 1);
publishMarkersFrames();
publishMarkers();
publishMapImage();
vis_markers_pub_.publish(vis_array_);
image_sub_.subscribe(nh_, "image_raw", 1);
info_sub_.subscribe(nh_, "camera_info", 1);
markers_sub_.subscribe(nh_, "markers", 1);
@@ -131,11 +136,6 @@ public:
sync_.reset(new message_filters::Synchronizer<SyncPolicy>(SyncPolicy(10), image_sub_, info_sub_, markers_sub_));
sync_->registerCallback(boost::bind(&ArucoMap::callback, this, _1, _2, _3));
publishMarkersFrames();
publishMarkers();
publishMapImage();
vis_markers_pub_.publish(vis_array_);
NODELET_INFO("ready");
}

3
clover/src/optical_flow.cpp
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@@ -70,7 +70,6 @@ private:
roi_rad_ = nh_priv.param("roi_rad", 0.0);
calc_flow_gyro_ = nh_priv.param("calc_flow_gyro", false);
img_sub_ = it.subscribeCamera("image_raw", 1, &OpticalFlow::flow, this);
img_pub_ = it_priv.advertise("debug", 1);
flow_pub_ = nh.advertise<mavros_msgs::OpticalFlowRad>("mavros/px4flow/raw/send", 1);
velo_pub_ = nh_priv.advertise<geometry_msgs::TwistStamped>("angular_velocity", 1);
@@ -83,6 +82,8 @@ private:
flow_.distance = -1; // no distance sensor available
flow_.temperature = 0;
img_sub_ = it.subscribeCamera("image_raw", 1, &OpticalFlow::flow, this);
NODELET_INFO("Optical Flow initialized");
}