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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");
}