From 161ec438ad54766141ebedcf737d6d469a93409f Mon Sep 17 00:00:00 2001
From: Ignacio Vizzo <ignaciovizzo@gmail.com>
Date: Mon, 2 Oct 2023 04:57:50 -0400
Subject: [PATCH] Change stuff around

---
 ros/ros2/OdometryServer.cpp | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/ros/ros2/OdometryServer.cpp b/ros/ros2/OdometryServer.cpp
index 7818c278..9cde1ac9 100644
--- a/ros/ros2/OdometryServer.cpp
+++ b/ros/ros2/OdometryServer.cpp
@@ -86,6 +86,8 @@ 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);
@@ -93,10 +95,6 @@ OdometryServer::OdometryServer(const rclcpp::NodeOptions &options)
     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");
 }