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Merged
Myzhar merged 1 commit into from
Jun 25, 2018
Merged

Publish odom when point cloud is subscribed #216

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Publish odom when point cloud is subscribed
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ANiemiec committed Jun 21, 2018
commit f4a561e188d90aa928fdae208d0bad92e6719f32
2 changes: 1 addition & 1 deletion src/zed_wrapper_nodelet.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -731,7 +731,7 @@ namespace zed_wrapper {
}

// Publish the odometry if someone has subscribed to
if (odom_SubNumber > 0) {
if (odom_SubNumber > 0 || cloud_SubNumber > 0) {
zed.getPosition(pose);
// Transform ZED pose in TF2 Transformation
tf2::Transform camera_transform;
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