I left a comment in commit 5e07d3f (the last one) for laserscan_kinect, but it applies to other files like cliff_detector and pose_estimator.
It looks like the callback when the scan topic is subscribed to includes a test that is always false:
sub_ != nullptr
The previous code tested
!sub
The change always tests false since initially sub_ is a nullptr. Since that's the case, it never gets set to subscribe to image and therefore, there is never a callback to publish the scan message.
In my copy, I changed it to
sub_ == nullptr
and it worked. Whether or not that is the proper way to do it, I don't know..
mdrwiega
commented
3 years ago
I left a comment in commit 5e07d3f (the last one) for laserscan_kinect, but it applies to other files like cliff_detector and pose_estimator.
It looks like the callback when the scan topic is subscribed to includes a test that is always false:
The previous code tested
The change always tests false since initially sub_ is a nullptr. Since that's the case, it never gets set to subscribe to image and therefore, there is never a callback to publish the scan message.
In my copy, I changed it to
and it worked. Whether or not that is the proper way to do it, I don't know..