Merge pull request ros-simulation#96 from bit-pirate/hydro-devel

prevents dynamic_reconfigure from overwritting update rate param on start-up
cohen39 · Aug 1, 2013 · 2ca828f · 2ca828f
2 parents adfa183 + b256d4f
commit 2ca828f
Showing 1 changed file with 6 additions and 3 deletions.
diff --git a/gazebo_plugins/src/gazebo_ros_camera_utils.cpp b/gazebo_plugins/src/gazebo_ros_camera_utils.cpp
@@ -59,9 +59,12 @@ GazeboRosCameraUtils::GazeboRosCameraUtils()
 void GazeboRosCameraUtils::configCallback(
   gazebo_plugins::GazeboRosCameraConfig &config, uint32_t level)
 {
-  ROS_INFO("Reconfigure request for the gazebo ros camera_: %s. New rate: %.2f",
-    this->camera_name_.c_str(), config.imager_rate);
-  this->parentSensor_->SetUpdateRate(config.imager_rate);
+  if (this->initialized_)
+  {
+    ROS_INFO("Reconfigure request for the gazebo ros camera_: %s. New rate: %.2f",
+             this->camera_name_.c_str(), config.imager_rate);
+    this->parentSensor_->SetUpdateRate(config.imager_rate);
+  }
 }
 
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