Change stuff around

PRBonn · Oct 2, 2023 · 161ec43 · 161ec43
1 parent b9e7950
commit 161ec43
Showing 1 changed file with 2 additions and 4 deletions.
diff --git a/ros/ros2/OdometryServer.cpp b/ros/ros2/OdometryServer.cpp
@@ -86,17 +86,15 @@ OdometryServer::OdometryServer(const rclcpp::NodeOptions &options)
     frame_publisher_ = create_publisher<sensor_msgs::msg::PointCloud2>("/kiss/frame", qos);
     kpoints_publisher_ = create_publisher<sensor_msgs::msg::PointCloud2>("/kiss/keypoints", qos);
     map_publisher_ = create_publisher<sensor_msgs::msg::PointCloud2>("/kiss/local_map", qos);
+    traj_publisher_ = create_publisher<nav_msgs::msg::Path>("/kiss/trajectory", qos);
+    path_msg_.header.frame_id = odom_frame_;
 
     // Initialize the transform broadcaster
     tf_broadcaster_ = std::make_unique<tf2_ros::TransformBroadcaster>(*this);
     tf2_buffer_ = std::make_unique<tf2_ros::Buffer>(this->get_clock());
     tf2_buffer_->setUsingDedicatedThread(true);
     tf2_listener_ = std::make_unique<tf2_ros::TransformListener>(*tf2_buffer_);
 
-    // Initialize trajectory publisher
-    path_msg_.header.frame_id = odom_frame_;
-    traj_publisher_ = create_publisher<nav_msgs::msg::Path>("/kiss/trajectory", qos);
-
     RCLCPP_INFO(this->get_logger(), "KISS-ICP ROS 2 odometry node initialized");
 }