bug fix in ROS1

PlotJuggler · Feb 19, 2024 · 35b9de9 · 35b9de9
1 parent 5932e98
commit 35b9de9
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Showing 3 changed files with 8 additions and 7 deletions.
diff --git a/src/DataLoadROS/dataload_ros.cpp b/src/DataLoadROS/dataload_ros.cpp
@@ -129,7 +129,7 @@ bool DataLoadROS::readDataFromFile(PJ::FileLoadInfo* info, PJ::PlotDataMapRef& p
     xmlLoadState(info->plugin_config.firstChildElement());
   }
 
-  if (info->plugin_config.hasChildNodes() || _config.topics.empty())
+  if (!info->plugin_config.hasChildNodes() || _config.topics.empty())
   {
     QSettings settings;
     _config.loadFromSettings(settings, "DataLoadROS");

diff --git a/src/DataStreamROS/datastream_ROS.cpp b/src/DataStreamROS/datastream_ROS.cpp
@@ -75,14 +75,15 @@ void DataStreamROS::topicCallback(const RosIntrospection::ShapeShifter::ConstPtr
   const auto& definition = msg->getMessageDefinition();
 
   // register the message type
-  auto ros_parser = CreateParserROS(*parserFactories(), topic_name, datatype, definition, dataMap());
-  _parser.addParser(topic_name, ros_parser);
-
-  RosIntrospectionFactory::registerMessage(topic_name, md5sum, datatype, definition);
+  if(!_parser.hasParser(topic_name))
+  {
+    auto ros_parser = CreateParserROS(*parserFactories(), topic_name, datatype, definition, dataMap());
+    _parser.addParser(topic_name, ros_parser);
+    RosIntrospectionFactory::registerMessage(topic_name, md5sum, datatype, definition);
+  }
 
   //------------------------------------
   std::vector<uint8_t> buffer;
-
   buffer.resize(msg->size());
 
   ros::serialization::OStream stream(buffer.data(), buffer.size());

diff --git a/src/ros_parsers/ros1_parser.h b/src/ros_parsers/ros1_parser.h
@@ -1,7 +1,7 @@
 #pragma once
 
 #include <PlotJuggler/messageparser_base.h>
-
+#include <iostream>
 
 inline std::shared_ptr<PJ::MessageParser>
 CreateParserROS(const PJ::ParserFactories &factories,