Fix environment monitor node to not publish tf if monitoring another …

…environment
tesseract-robotics · Aug 21, 2023 · fc0fe2c · fc0fe2c
1 parent f7147aa
commit fc0fe2c
Showing 1 changed file with 4 additions and 2 deletions.
diff --git a/tesseract_monitoring/src/environment_monitor_node.cpp b/tesseract_monitoring/src/environment_monitor_node.cpp
@@ -7,6 +7,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_monitoring/environment_monitor.h>
 
 using namespace tesseract_environment;
+using namespace tesseract_monitoring;
 
 const std::string ROBOT_DESCRIPTION_PARAM = "robot_description"; /**< Default ROS parameter for robot description */
 const std::string ROBOT_DESCRIPTION_SEMANTIC_PARAM = "robot_description_semantic";
@@ -48,10 +49,11 @@ int main(int argc, char** argv)
   if (!monitored_namespace.empty())
     monitor.startMonitoringEnvironment(monitored_namespace);
 
+  bool publish_tf = monitored_namespace.empty();
   if (joint_state_topic.empty())
-    monitor.startStateMonitor();
+    monitor.startStateMonitor(DEFAULT_JOINT_STATES_TOPIC, publish_tf);
   else
-    monitor.startStateMonitor(joint_state_topic);
+    monitor.startStateMonitor(joint_state_topic, publish_tf);
 
   RCLCPP_INFO(node->get_logger(), "Environment Monitor Running!");