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Fix race condition #22

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Fix race condition #22

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645eae3
Fix race condition by starting subscriber as last thing
marcoesposito1988 Sep 12, 2016
61ea357
Removed leftover dynamic_reconfigure file from aruco
marcoesposito1988 Sep 12, 2016
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14 changes: 0 additions & 14 deletions aruco/cfg/ArucoThreshold.cfg
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4 changes: 2 additions & 2 deletions aruco_ros/src/marker_publish.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -85,8 +85,6 @@ class ArucoMarkerPublisher
, it_(nh_)
, useCamInfo_(true)
{
image_sub_ = it_.subscribe("/image", 1, &ArucoMarkerPublisher::image_callback, this);

nh_.param<bool>("use_camera_info", useCamInfo_, true);
if(useCamInfo_)
{
Expand All @@ -113,6 +111,8 @@ class ArucoMarkerPublisher
marker_msg_ = aruco_msgs::MarkerArray::Ptr(new aruco_msgs::MarkerArray());
marker_msg_->header.frame_id = reference_frame_;
marker_msg_->header.seq = 0;

image_sub_ = it_.subscribe("/image", 1, &ArucoMarkerPublisher::image_callback, this);
}

bool getTransform(const std::string& refFrame,
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6 changes: 3 additions & 3 deletions aruco_ros/src/simple_double.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -251,9 +251,6 @@ int main(int argc,char **argv)
nh.param<bool>("image_is_rectified", useRectifiedImages, true);
ROS_INFO_STREAM("Image is rectified: " << useRectifiedImages);

image_transport::Subscriber image_sub = it.subscribe("/image", 1, &image_callback);
cam_info_sub = nh.subscribe("/camera_info", 1, &cam_info_callback);

cam_info_received = false;
image_pub = it.advertise("result", 1);
debug_pub = it.advertise("debug", 1);
Expand All @@ -276,6 +273,9 @@ int main(int argc,char **argv)
ROS_ERROR("parent_name and/or child_name was not set!");
return -1;
}

image_transport::Subscriber image_sub = it.subscribe("/image", 1, &image_callback);
cam_info_sub = nh.subscribe("/camera_info", 1, &cam_info_callback);

ROS_INFO("Aruco node started with marker size of %f meters and marker ids to track: %d, %d",
marker_size, marker_id1, marker_id2);
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18 changes: 9 additions & 9 deletions aruco_ros/src/simple_single.cpp
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Expand Up @@ -83,15 +83,6 @@ class ArucoSimple
nh("~"),
it(nh)
{
image_sub = it.subscribe("/image", 1, &ArucoSimple::image_callback, this);
cam_info_sub = nh.subscribe("/camera_info", 1, &ArucoSimple::cam_info_callback, this);

image_pub = it.advertise("result", 1);
debug_pub = it.advertise("debug", 1);
pose_pub = nh.advertise<geometry_msgs::PoseStamped>("pose", 100);
transform_pub = nh.advertise<geometry_msgs::TransformStamped>("transform", 100);
position_pub = nh.advertise<geometry_msgs::Vector3Stamped>("position", 100);

nh.param<double>("marker_size", marker_size, 0.05);
nh.param<int>("marker_id", marker_id, 300);
nh.param<std::string>("reference_frame", reference_frame, "");
Expand All @@ -103,6 +94,15 @@ class ArucoSimple

if ( reference_frame.empty() )
reference_frame = camera_frame;

image_pub = it.advertise("result", 1);
debug_pub = it.advertise("debug", 1);
pose_pub = nh.advertise<geometry_msgs::PoseStamped>("pose", 100);
transform_pub = nh.advertise<geometry_msgs::TransformStamped>("transform", 100);
position_pub = nh.advertise<geometry_msgs::Vector3Stamped>("position", 100);

image_sub = it.subscribe("/image", 1, &ArucoSimple::image_callback, this);
cam_info_sub = nh.subscribe("/camera_info", 1, &ArucoSimple::cam_info_callback, this);

ROS_INFO("Aruco node started with marker size of %f m and marker id to track: %d",
marker_size, marker_id);
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