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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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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");
}