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Commit cbe3cda5 authored by Johannes Mey's avatar Johannes Mey
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regularly publish zone status, even if it does not change

parent a4e77ac4
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......@@ -59,7 +59,7 @@ public:
for (auto zone : zones) {
if (zone.contains(msg.pose.at(link_number).position)) {
// the point is contained in the zone, so we can stop checking and send an according message
if (!res || !initialized) {
if ((counter%100==1) || !res || !initialized) {
initialized = true;
res = true;
panda_mqtt_connector::StampedInZone result;
......@@ -74,7 +74,7 @@ public:
}
}
// no part of the robot is in a zone
if (res || !initialized) {
if ((counter%100==1) || res || !initialized) {
ROS_INFO_STREAM("left zone in run " << counter);
initialized = true;
res = false;
......
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