Works some times.

Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
gazebosim · arjo129 · Oct 3, 2023 · Dec 20, 2022 · Dec 21, 2022 · Jan 12, 2023
commit d722ad81e4a7598f1be1d300b187246670672ba3
@@ -118,6 +118,7 @@ void EnvironmentVisualization::Update(const UpdateInfo &_info,
   {
     this->dataPtr->Initiallize(_ecm);
     this->dataPtr->first = false;
+    //this->ResamplePointcloud();
   }
 }
 

@@ -84,6 +84,7 @@ class gz::sim::systems::EnvironmentPreloadPrivate
     std::lock_guard<std::mutex> lock(this->mtx);
     this->visualize = true;
     this->samples = msgs::Convert(_resChanged);
+    this->visualizationPtr->resample = true;
   }
 
   public: void ReadSdf(EntityComponentManager &_ecm)
@@ -239,6 +240,7 @@ class gz::sim::systems::EnvironmentPreloadPrivate
       using ComponentT = components::Environment;
       auto component = ComponentT{std::move(data)};
       _ecm.CreateComponent(worldEntity(_ecm), std::move(component));
+      this->visualizationPtr->resample = true;
     }
     catch (const std::invalid_argument &exc)
     {

@@ -64,19 +64,16 @@ class EnvironmentVisualizationTool
   /////////////////////////////////////////////////
   public: void CreatePointCloudTopics(
     std::shared_ptr<components::EnvironmentalData> data) {
-    std::cout << __FILE__ << __LINE__ <<std::endl;
+
     this->pubs.clear();
     this->sessions.clear();
-    std::cout << __FILE__ << __LINE__ <<std::endl;
 
     for (auto key : data->frame.Keys())
     {
       this->pubs.emplace(key, node.Advertise<gz::msgs::Float_V>(key));
       gz::msgs::Float_V msg;
       this->floatFields.emplace(key, msg);
       this->sessions.emplace(key, data->frame[key].CreateSession());
-      std::cout << __FILE__ << __LINE__ <<std::endl;
-
     }
   }
-Original file line number
+Diff line change
@@ Expand Up @@
       {
         this->dataPtr->Initiallize(_ecm);
         this->dataPtr->first = false;
+        //this->ResamplePointcloud();
       }
     }
@@ Expand Down @@