Update scan_to_scan_filter_chain.cpp

only publish result if filter succeeded
yepw · Feb 25, 2016 · 3fc99a4 · 3fc99a4
1 parent 9147cac
commit 3fc99a4
Showing 1 changed file with 4 additions and 1 deletion.
diff --git a/src/scan_to_scan_filter_chain.cpp b/src/scan_to_scan_filter_chain.cpp
@@ -126,8 +126,11 @@ class ScanToScanFilterChain
   void callback(const sensor_msgs::LaserScan::ConstPtr& msg_in)
   {
     // Run the filter chain
-    if (filter_chain_.update(*msg_in, msg_));
+    if (filter_chain_.update(*msg_in, msg_))
+    {
+      //only publish result if filter succeeded
       output_pub_.publish(msg_);
+    }
   }
 };