fix: correct packet output condition for velodyne and robosense

tier4 · Jul 23, 2024 · 989b018 · 989b018
1 parent 3e2239f
commit 989b018
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/nebula_ros/src/robosense/decoder_wrapper.cpp b/nebula_ros/src/robosense/decoder_wrapper.cpp
@@ -122,7 +122,7 @@ void RobosenseDecoderWrapper::publish(PublishData && data)
   cloud_watchdog_->update();
 
   // Publish scan message only if it has been written to
-  if (current_scan_msg_ && !current_scan_msg_->packets.empty()) {
+  if (!data.packets->packets.empty()) {
     auto robosense_scan = std::make_unique<robosense_msgs::msg::RobosenseScan>();
     robosense_scan->header = data.packets->header;
 

diff --git a/nebula_ros/src/velodyne/decoder_wrapper.cpp b/nebula_ros/src/velodyne/decoder_wrapper.cpp
@@ -207,7 +207,7 @@ void VelodyneDecoderWrapper::publish(PublishData && data)
   cloud_watchdog_->update();
 
   // Publish scan message only if it has been written to
-  if (current_scan_msg_ && !current_scan_msg_->packets.empty()) {
+  if (data.packets->packets.empty()) {
     auto velodyne_scan = std::make_unique<velodyne_msgs::msg::VelodyneScan>();
     velodyne_scan->header = data.packets->header;