Add path publisher.

rm-controls · Oct 27, 2023 · d7b7a74 · d7b7a74
1 parent e824907
commit d7b7a74
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/rm_chassis_controllers/include/rm_chassis_controllers/chassis_base.h b/rm_chassis_controllers/include/rm_chassis_controllers/chassis_base.h
@@ -179,7 +179,7 @@ class ChassisBase : public controller_interface::MultiInterfaceController<T...>
   Command cmd_struct_;
   realtime_tools::RealtimeBuffer<Command> cmd_rt_buffer_;
   realtime_tools::RealtimeBuffer<nav_msgs::Odometry> odom_buffer_;
-  ros::Publisher path_pub_ ;
+  ros::Publisher path_pub_;
   nav_msgs::Path path_;
 };
 

diff --git a/rm_chassis_controllers/src/chassis_base.cpp b/rm_chassis_controllers/src/chassis_base.cpp
@@ -353,7 +353,7 @@ void ChassisBase<T...>::updateOdom(const ros::Time& time, const ros::Duration& p
     topic_update_ = false;
   }
 
-  if(enable_path_)
+  if (enable_path_)
   {
     path_.header.stamp = time;
     path_.header.frame_id = "odom";
@@ -372,7 +372,7 @@ void ChassisBase<T...>::updateOdom(const ros::Time& time, const ros::Duration& p
     if (path_publish_rate > 0.0 && last_path_publish_time_ + ros::Duration(1.0 / path_publish_rate) < time)
     {
       path_.poses.push_back(this_pose_stamped);
-      path_pub_.publish(path_);//path
+      path_pub_.publish(path_);  // path
       last_path_publish_time_ = time;
     }
   }