starting graph publisher before publishing

mtlazaro · Apr 5, 2018 · 07e1fc4 · 07e1fc4
1 parent 31667f3
commit 07e1fc4
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/src/cg_mrslam.cpp b/src/cg_mrslam.cpp
@@ -182,16 +182,16 @@ int main(int argc, char **argv)
     mapServer.publishMapMetaData();
     mapServer.publishMap();
   }
-
-  if (publishGraph)
-    graphPublisher.publishGraph();
 
   if (publishMap || publishGraph){
     graphPublisher.start();
     graphPublisher.setEstimate(gslam.lastVertex()->estimate());
     graphPublisher.setOdom(odomPosk_1);
   }
-
+
+  if (publishGraph)
+    graphPublisher.publishGraph();
+
   //Saving g2o file
   char buf[100];
   sprintf(buf, "robot-%i-%s", idRobot, outputFilename.c_str());