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Fix missing ID handling related to starting trajectory (#369)

master
Akiyoshi Ochiai 2017-06-09 01:23:00 -07:00 committed by Holger Rapp
parent ed6ddbe121
commit 51fe6fa021
1 changed files with 2 additions and 1 deletions
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3
cartographer_ros/cartographer_ros/node.cc
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@ -427,9 +427,9 @@ bool Node::HandleStartTrajectory(
return false;
}
std::unordered_set<string> expected_sensor_ids;
const int trajectory_id = AddTrajectory(options, request.topics);
LaunchSubscribers(options, request.topics, trajectory_id);
response.trajectory_id = trajectory_id;
is_active_trajectory_[trajectory_id] = true;
return true;
@ -446,6 +446,7 @@ void Node::StartTrajectoryWithDefaultTopics(const TrajectoryOptions& options) {
const int trajectory_id = AddTrajectory(options, topics);
LaunchSubscribers(options, topics, trajectory_id);
is_active_trajectory_[trajectory_id] = true;
}
bool Node::HandleFinishTrajectory(