Skip to content

A small fix for clearing update flag after pub #424

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
wants to merge 2 commits into
base: master
Choose a base branch
from
Open

A small fix for clearing update flag after pub #424

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
705c0a6
Merge pull request #2 from ethz-asl/master
kaixqu Jul 23, 2025
308efb0
Reset the update flag after publishing the map
Jul 23, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
11 changes: 9 additions & 2 deletions voxblox_ros/src/esdf_server.cc
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -156,14 +156,21 @@ void EsdfServer::publishMap(bool reset_remote_map) {
}
const bool only_updated = !reset_remote_map;
timing::Timer publish_map_timer("map/publish_esdf");
auto layer = this->esdf_map_->getEsdfLayerPtr();
voxblox_msgs::Layer layer_msg;
serializeLayerAsMsg<EsdfVoxel>(this->esdf_map_->getEsdfLayer(),
only_updated, &layer_msg);
serializeLayerAsMsg<EsdfVoxel>(*layer, only_updated, &layer_msg);
if (reset_remote_map) {
layer_msg.action = static_cast<uint8_t>(MapDerializationAction::kReset);
}
this->esdf_map_pub_.publish(layer_msg);
publish_map_timer.Stop();

// Clear the updated flag if we have published the map
BlockIndexList block_list;
layer->getAllUpdatedBlocks(Update::kMap, &block_list);
for (const BlockIndex& index : block_list) {
layer->getBlockPtrByIndex(index)->updated().reset(Update::kMap);
}
}
num_subscribers_esdf_map_ = subscribers;
TsdfServer::publishMap();
Expand Down
11 changes: 9 additions & 2 deletions voxblox_ros/src/tsdf_server.cc
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -467,14 +467,21 @@ void TsdfServer::publishMap(bool reset_remote_map) {
}
const bool only_updated = !reset_remote_map;
timing::Timer publish_map_timer("map/publish_tsdf");
auto layer = this->tsdf_map_->getTsdfLayerPtr();
voxblox_msgs::Layer layer_msg;
serializeLayerAsMsg<TsdfVoxel>(this->tsdf_map_->getTsdfLayer(),
only_updated, &layer_msg);
serializeLayerAsMsg<TsdfVoxel>(*layer, only_updated, &layer_msg);
if (reset_remote_map) {
layer_msg.action = static_cast<uint8_t>(MapDerializationAction::kReset);
}
this->tsdf_map_pub_.publish(layer_msg);
publish_map_timer.Stop();

// Clear the updated flag if we have published the map
BlockIndexList block_list;
layer->getAllUpdatedBlocks(Update::kMap, &block_list);
for (const BlockIndex& index : block_list) {
layer->getBlockPtrByIndex(index)->updated().reset(Update::kMap);
}
}
num_subscribers_tsdf_map_ = subscribers;
}
Expand Down