Always initialize clearing endpoints in voxel layer (#2705)

ros-navigation · Nov 25, 2021 · b8d3611 · b8d3611
1 parent 9cc4192
commit b8d3611
Showing 1 changed file with 5 additions and 7 deletions.
diff --git a/nav2_costmap_2d/plugins/voxel_layer.cpp b/nav2_costmap_2d/plugins/voxel_layer.cpp
@@ -333,13 +333,11 @@ void VoxelLayer::raytraceFreespace(
     publish_clearing_points = (node->count_subscribers("clearing_endpoints") > 0);
   }
 
-  if (publish_clearing_points) {
-    clearing_endpoints_->data.clear();
-    clearing_endpoints_->width = clearing_observation.cloud_->width;
-    clearing_endpoints_->height = clearing_observation.cloud_->height;
-    clearing_endpoints_->is_dense = true;
-    clearing_endpoints_->is_bigendian = false;
-  }
+  clearing_endpoints_->data.clear();
+  clearing_endpoints_->width = clearing_observation.cloud_->width;
+  clearing_endpoints_->height = clearing_observation.cloud_->height;
+  clearing_endpoints_->is_dense = true;
+  clearing_endpoints_->is_bigendian = false;
 
   sensor_msgs::PointCloud2Modifier modifier(*clearing_endpoints_);
   modifier.setPointCloud2Fields(