Revision 05e1c990
| ID | 05e1c9904637326580e5a8c47e8a5d5faa07153c |
Fixed immediate runtime error
Moved the TransformListener initialization into the target_cb, so that
it wouldn't try to initialize a NodeHandle before ros::init was called.
| vision/src/v2v3_converter.cpp | ||
|---|---|---|
| 3 | 3 |
#include <geometry_msgs/Point.h> |
| 4 | 4 |
#include <tf/transform_listener.h> |
| 5 | 5 |
|
| 6 |
tf::TransformListener listener; |
|
| 7 | 6 |
ros::Publisher pub; |
| 8 | 7 |
|
| 9 | 8 |
void target_cb(const vision::TargetDescriptor target) {
|
| 9 |
tf::TransformListener listener; |
|
| 10 | 10 |
geometry_msgs::Point point; |
| 11 | 11 |
tf::StampedTransform transform; |
| 12 | 12 |
try {
|
| ... | ... | |
| 25 | 25 |
ros::Subscriber sub = n.subscribe("target_2d", 1, target_cb);
|
| 26 | 26 |
pub = n.advertise<geometry_msgs::Point>("target_3d", 1000);
|
| 27 | 27 |
ros::spin(); |
| 28 |
return 0; |
|
| 28 | 29 |
} |
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