Enabling debug_info_ causes topics with different encodings to be published in duplicate each time - Githubissues

sbgisen / moveit

:robot: The MoveIt motion planning framework

http://moveit.ros.org/

BSD 3-Clause "New" or "Revised" License

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Enabling debug_info_ causes topics with different encodings to be published in duplicate each time #22

Closed nyxrobotics closed 1 month ago

nyxrobotics commented 1 month ago

Description

As the title says, filtered_cloud is published in duplicate each time

https://github.com/sbgisen/moveit/blob/fa41ddf7b97b9c665782c5789ac108d438c8dbb5/moveit_ros/perception/depth_image_octomap_updater/src/depth_image_octomap_updater.cpp#L537

https://github.com/sbgisen/moveit/blob/fa41ddf7b97b9c665782c5789ac108d438c8dbb5/moveit_ros/perception/depth_image_octomap_updater/src/depth_image_octomap_updater.cpp#L575