[Personalrobots-commit] SF.net SVN: personalrobots:[9578] pkg/trunk

[<stu...@us...>]

Revision: 9578
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=9578&view=rev
Author:   stuglaser
Date:     2009-01-16 22:56:34 +0000 (Fri, 16 Jan 2009)

Log Message:
-----------
I think we're all tired of having the "cal" topics cluttering up rostopic and rosgraphviz.

Modified Paths:
--------------
    pkg/trunk/controllers/robot_mechanism_controllers/src/joint_calibration_controller.cpp
    pkg/trunk/util/misc_utils/include/misc_utils/realtime_publisher.h

Modified: pkg/trunk/controllers/robot_mechanism_controllers/src/joint_calibration_controller.cpp
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/src/joint_calibration_controller.cpp	2009-01-16 22:56:30 UTC (rev 9577)
+++ pkg/trunk/controllers/robot_mechanism_controllers/src/joint_calibration_controller.cpp	2009-01-16 22:56:34 UTC (rev 9578)
@@ -175,7 +175,14 @@
 JointCalibrationControllerNode::~JointCalibrationControllerNode()
 {
   if (pub_calibrated_)
+  {
+    std::string topic = pub_calibrated_->topic_;
     delete pub_calibrated_;
+
+    // I think we're all tired of having the "cal" topics cluttering
+    // up rostopic and rosgraphviz.
+    ros::node::instance()->unadvertise(topic);
+  }
 }
 
 void JointCalibrationControllerNode::update()

Modified: pkg/trunk/util/misc_utils/include/misc_utils/realtime_publisher.h
===================================================================
--- pkg/trunk/util/misc_utils/include/misc_utils/realtime_publisher.h	2009-01-16 22:56:30 UTC (rev 9577)
+++ pkg/trunk/util/misc_utils/include/misc_utils/realtime_publisher.h	2009-01-16 22:56:34 UTC (rev 9578)
@@ -170,9 +170,10 @@
     is_running_ = false;
   }
 
+  std::string topic_;
+
 private:
 
-  std::string topic_;
   ros::node *node_;
   bool is_running_;
   bool keep_running_;


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