From 3fc99a4542da61bd256b3bc6ffcf3df2f3fe0d43 Mon Sep 17 00:00:00 2001
From: asimay <asimay_y@126.com>
Date: Thu, 25 Feb 2016 13:55:26 +0800
Subject: [PATCH] Update scan_to_scan_filter_chain.cpp

only publish result if filter succeeded
---
 src/scan_to_scan_filter_chain.cpp | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/src/scan_to_scan_filter_chain.cpp b/src/scan_to_scan_filter_chain.cpp
index 6c75f568..100b5955 100644
--- a/src/scan_to_scan_filter_chain.cpp
+++ b/src/scan_to_scan_filter_chain.cpp
@@ -126,8 +126,11 @@ class ScanToScanFilterChain
   void callback(const sensor_msgs::LaserScan::ConstPtr& msg_in)
   {
     // Run the filter chain
-    if (filter_chain_.update(*msg_in, msg_));
+    if (filter_chain_.update(*msg_in, msg_))
+    {
+      //only publish result if filter succeeded
       output_pub_.publish(msg_);
+    }
   }
 };