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Fix non-existent cached _orthoimage error #78

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merged 1 commit into from
Sep 8, 2023
Merged

Fix non-existent cached _orthoimage error #78

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12 changes: 7 additions & 5 deletions gisnav/gisnav/core/gis_node.py
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Original file line number Diff line number Diff line change
Expand Up @@ -264,7 +264,7 @@ class GISNode(Node):
ROS_D_TIMEOUT = 10
"""Default WMS GetMap request timeout in seconds"""

ROS_D_PUBLISH_RATE = 1
ROS_D_PUBLISH_RATE = 1.0
"""Default publish rate for :class:`.OrthoImage3D` messages in Hz"""

ROS_D_WMS_POLL_RATE = 0.1
Expand Down Expand Up @@ -461,11 +461,11 @@ def max_map_radius(self) -> Optional[int]:

@property
@ROS.parameter(ROS_D_PUBLISH_RATE, descriptor=_ROS_PARAM_DESCRIPTOR_READ_ONLY)
def publish_rate(self) -> Optional[int]:
def publish_rate(self) -> Optional[float]:
"""Publish rate in Hz for the :attr:`.orthoimage` :term:`message`"""

@narrow_types
def _create_publish_timer(self, publish_rate: int) -> Timer:
def _create_publish_timer(self, publish_rate: float) -> Timer:
"""
Returns a timer to publish :attr:`.orthoimage` to ROS

Expand Down Expand Up @@ -1338,8 +1338,10 @@ def _is_latlon_inside_bounding_box(

# Use cached orthoimage if available, do not try to recompute to avoid
# circular dependencies
dem_height_meters_at_latlon = _dem_elevation_meters_at_latlon(
latitude, longitude, self._orthoimage
dem_height_meters_at_latlon = (
_dem_elevation_meters_at_latlon(latitude, longitude, self._orthoimage)
if hasattr(self, "_orthoimage")
else None
)
if dem_height_meters_at_latlon is None:
dem_height_meters_at_latlon = self._dem_elevation_meters_at_latlon_wms(
Expand Down