From a55b02b9ed3b2b6e600b764d52be1a8c2e6a277f Mon Sep 17 00:00:00 2001 From: Michel Breyer Date: Wed, 18 Aug 2021 09:58:03 +0200 Subject: [PATCH] Latch visualization topics --- active_grasp/visualization.py | 14 ++++++++++++-- 1 file changed, 12 insertions(+), 2 deletions(-) diff --git a/active_grasp/visualization.py b/active_grasp/visualization.py index 1e8234c..5504cbc 100644 --- a/active_grasp/visualization.py +++ b/active_grasp/visualization.py @@ -13,8 +13,18 @@ cmap = matplotlib.colors.LinearSegmentedColormap.from_list("RedGreen", ["r", "g" class Visualizer: def __init__(self, topic="visualization_marker_array"): self.marker_pub = rospy.Publisher(topic, MarkerArray, queue_size=1) - self.scene_cloud_pub = rospy.Publisher("scene_cloud", PointCloud2, queue_size=1) - self.map_cloud_pub = rospy.Publisher("map_cloud", PointCloud2, queue_size=1) + self.scene_cloud_pub = rospy.Publisher( + "scene_cloud", + PointCloud2, + latch=True, + queue_size=1, + ) + self.map_cloud_pub = rospy.Publisher( + "map_cloud", + PointCloud2, + latch=True, + queue_size=1, + ) self.quality_pub = rospy.Publisher("quality", PointCloud2, queue_size=1) def clear(self):