fix untriggered first image

ros-simulation · Apr 19, 2018 · e9d72ba · e9d72ba
1 parent 23d995b
commit e9d72ba
Show file tree

Hide file tree

Showing 2 changed files with 3 additions and 10 deletions.
diff --git a/gazebo_plugins/src/gazebo_ros_triggered_camera.cpp b/gazebo_plugins/src/gazebo_ros_triggered_camera.cpp
@@ -64,6 +64,7 @@ void GazeboRosTriggeredCamera::Load(sensors::SensorPtr _parent, sdf::ElementPtr
 
   GazeboRosCameraUtils::Load(_parent, _sdf);
 
+  this->SetCameraEnabled(false);
   this->preRenderConnection_ =
       event::Events::ConnectPreRender(
           std::bind(&GazeboRosTriggeredCamera::PreRender, this));
@@ -76,6 +77,7 @@ void GazeboRosTriggeredCamera::Load(sensors::SensorPtr _parent,
 {
   GazeboRosCameraUtils::Load(_parent, _sdf, _camera_name_suffix, _hack_baseline);
 
+  this->SetCameraEnabled(false);
   this->preRenderConnection_ =
       event::Events::ConnectPreRender(
       std::bind(&GazeboRosTriggeredCamera::PreRender, this));

diff --git a/gazebo_plugins/test/camera/triggered_camera.cpp b/gazebo_plugins/test/camera/triggered_camera.cpp
@@ -32,22 +32,13 @@ TEST_F(CameraTest, cameraSubscribeTest)
                           &CameraTest::imageCallback,
                           dynamic_cast<CameraTest*>(this));
 
-  // check for first image
-  while (!images_received_)
-  {
-    ros::spinOnce();
-    ros::Duration(0.1).sleep();
-  }
-
-  // then wait for 3 seconds to confirm that we don't receive any more images
-  images_received_ = 0;
+  // wait for 3 seconds to confirm that we don't receive any images
   for (unsigned int i = 0; i < 30; ++i)
   {
     ros::spinOnce();
     ros::Duration(0.1).sleep();
   }
   EXPECT_EQ(images_received_, 0);
-  images_received_ = 0;
 
   // make sure something is subscribing to image_trigger topic
   // there is no easy API, so call getSystemState