make publish_pointclouds param grip for external map updates

Schmluk · Schmluk · commit e51092cf2b42 · 2020-11-04T17:06:55.000+01:00
diff --git a/voxblox_ros/src/esdf_server.cc b/voxblox_ros/src/esdf_server.cc
@@ -240,7 +240,9 @@ void EsdfServer::esdfMapCallback(const voxblox_msgs::Layer& layer_msg) {
     ROS_ERROR_THROTTLE(10, "Got an invalid ESDF map message!");
   } else {
     ROS_INFO_ONCE("Got an ESDF map from ROS topic!");
-    publishPointclouds();
+    if (publish_pointclouds_) {
+      publishPointclouds();
+    }
   }
 }
 

Original file line number	Diff line number	Diff line change
`@@ -240,7 +240,9 @@ void EsdfServer::esdfMapCallback(const voxblox_msgs::Layer& layer_msg) {`
`240`	`240`	`ROS_ERROR_THROTTLE(10, "Got an invalid ESDF map message!");`
`241`	`241`	`} else {`
`242`	`242`	`ROS_INFO_ONCE("Got an ESDF map from ROS topic!");`
`243`		`- publishPointclouds();`
	`243`	`+ if (publish_pointclouds_) {`
	`244`	`+ publishPointclouds();`
	`245`	`+ }`
`244`	`246`	`}`
`245`	`247`	`}`
`246`	`248`