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fix: OctoMap and Filtered_Cloud Not Updating During Movement Execution (backport #3209) #3211

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merged 6 commits into from
Jan 12, 2025
Merged

fix: OctoMap and Filtered_Cloud Not Updating During Movement Execution (backport #3209) #3211

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7574f1b
fix: OctoMap and Filtered_Cloud Not Updating During Movement Executio…
MarcoMagriDev Jan 9, 2025
59226b1
Resolve conflicts
sea-bass Jan 10, 2025
dcdc12d
Add missing include
sea-bass Jan 10, 2025
b14508a
No need for conditionals on humble
sea-bass Jan 10, 2025
4087130
Merge branch 'humble' into mergify/bp/humble/pr-3209
sea-bass Jan 10, 2025
c5c3c03
Merge branch 'humble' into mergify/bp/humble/pr-3209
sea-bass Jan 12, 2025
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1 change: 1 addition & 0 deletions ...ud_octomap_updater/include/moveit/pointcloud_octomap_updater/pointcloud_octomap_updater.h
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Original file line number Diff line number Diff line change
Expand Up @@ -37,6 +37,7 @@
#pragma once

#include <rclcpp/rclcpp.hpp>
#include <rclcpp/callback_group.hpp>
#include <tf2_ros/transform_listener.h>
#include <tf2_ros/message_filter.h>
#include <message_filters/subscriber.h>
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6 changes: 5 additions & 1 deletion moveit_ros/perception/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp
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Expand Up @@ -115,8 +115,12 @@ void PointCloudOctomapUpdater::start()

if (point_cloud_subscriber_)
return;

rclcpp::SubscriptionOptions options;
options.callback_group = node_->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
/* subscribe to point cloud topic using tf filter*/
point_cloud_subscriber_ = new message_filters::Subscriber<sensor_msgs::msg::PointCloud2>(node_, point_cloud_topic_);
point_cloud_subscriber_ = new message_filters::Subscriber<sensor_msgs::msg::PointCloud2>(
node_, point_cloud_topic_, rmw_qos_profile_sensor_data, options);
if (tf_listener_ && tf_buffer_ && !monitor_->getMapFrame().empty())
{
point_cloud_filter_ = new tf2_ros::MessageFilter<sensor_msgs::msg::PointCloud2>(
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