Merge pull request #18 from clearpathrobotics/CORE-16023_latch_serial…

…ized_publisher [CORE-16023] Latch serialized publisher
clearpathrobotics · Mar 30, 2020 · 88cc285 · 88cc285
2 parents fe8aa5e + d539325
commit 88cc285
Showing 1 changed file with 5 additions and 2 deletions.
diff --git a/fuse_publishers/src/serialized_publisher.cpp b/fuse_publishers/src/serialized_publisher.cpp
@@ -61,9 +61,12 @@ void SerializedPublisher::onInit()
   // Configure the publisher
   private_node_handle_.getParam("frame_id", frame_id_);
 
+  bool latch = true;
+  private_node_handle_.getParam("latch", latch);
+
   // Advertise the topics
-  graph_publisher_ = private_node_handle_.advertise<fuse_msgs::SerializedGraph>("graph", 1);
-  transaction_publisher_ = private_node_handle_.advertise<fuse_msgs::SerializedTransaction>("transaction", 1);
+  graph_publisher_ = private_node_handle_.advertise<fuse_msgs::SerializedGraph>("graph", 1, latch);
+  transaction_publisher_ = private_node_handle_.advertise<fuse_msgs::SerializedTransaction>("transaction", 1, latch);
 }
 
 void SerializedPublisher::notifyCallback(