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Add latch param to serialized publisher #165

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Apr 1, 2020
Merged

Add latch param to serialized publisher #165

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7 changes: 5 additions & 2 deletions fuse_publishers/src/serialized_publisher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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(
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