diff --git a/main.cpp b/main.cpp index 6f91855e7aa89c42c0ec731b9821b9ca41b47976..a9c88212f5adf2cdebd10318f292546e3f68d5ed 100644 --- a/main.cpp +++ b/main.cpp @@ -352,7 +352,7 @@ void mappings_callback_to_TRON(const ros::MessageEvent<T>& event){ std::string topic = event.getConnectionHeader().at("topic"); byte *bytes = reinterpret_cast<byte*>(event.getMessage().get()); for (Mapping& mapping : mappings) { - if (mapping.topic.c_str() == topic) { + if (mapping.topic.c_str() == topic && !mapping.channel.is_input) { int var_count = mapping.byte_offset.size(); int32_t vars[var_count * 4]; int next_pos = 0; @@ -453,7 +453,7 @@ void process_TRONs_msgs(){ } for (Mapping& map : mappings) - if (map.channel.name == chan->name) + if (map.channel.name == chan->name && map.channel.is_input) for (ros::Publisher& pub : input_publishers){ if (pub.getTopic() == map.topic) { if (map.input_callback != nullptr)