bring non-deprecated code before deprecated code

Signed-off-by: Kenji Brameld <kenjibrameld@gmail.com>
ros-drivers · Aug 20, 2022 · 0e90eda · 0e90eda
1 parent 7849dc0
commit 0e90eda
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Showing 2 changed files with 8 additions and 8 deletions.
diff --git a/zbar_ros/include/zbar_ros/barcode_reader_node.hpp b/zbar_ros/include/zbar_ros/barcode_reader_node.hpp
@@ -53,8 +53,8 @@ class BarcodeReaderNode : public rclcpp::Node
  void cleanCb();
 
  rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr camera_sub_;
- rclcpp::Publisher<std_msgs::msg::String>::SharedPtr barcode_pub_; // DEPRECATED
  rclcpp::Publisher<zbar_ros_interfaces::msg::Symbol>::SharedPtr symbol_pub_;
+ rclcpp::Publisher<std_msgs::msg::String>::SharedPtr barcode_pub_; // DEPRECATED
  zbar::ImageScanner scanner_;
 
  rclcpp::TimerBase::SharedPtr clean_timer_;

diff --git a/zbar_ros/src/barcode_reader_node.cpp b/zbar_ros/src/barcode_reader_node.cpp
@@ -47,8 +47,8 @@ BarcodeReaderNode::BarcodeReaderNode()
  camera_sub_ = this->create_subscription<sensor_msgs::msg::Image>(
  "image", 10, std::bind(&BarcodeReaderNode::imageCb, this, std::placeholders::_1));
 
- barcode_pub_ = this->create_publisher<std_msgs::msg::String>("barcode", 10);
  symbol_pub_ = this->create_publisher<zbar_ros_interfaces::msg::Symbol>("symbol", 10);
+ barcode_pub_ = this->create_publisher<std_msgs::msg::String>("barcode", 10);
 
  throttle_ = this->declare_parameter<double>("throttle_repeated_barcodes", 0.0);
  RCLCPP_DEBUG(get_logger(), "throttle_repeated_barcodes : %f", throttle_);
@@ -96,7 +96,7 @@ void BarcodeReaderNode::imageCb(sensor_msgs::msg::Image::ConstSharedPtr image)
  if (throttle_ > 0.0) {
  const std::lock_guard<std::mutex> lock(memory_mutex_);
 
- std::string barcode = symbol.data;
+ const std::string & barcode = symbol.data;
  // check if barcode has been recorded as seen, and skip detection
  if (barcode_memory_.count(barcode) > 0) {
  // check if time reached to forget barcode
@@ -115,15 +115,15 @@ void BarcodeReaderNode::imageCb(sensor_msgs::msg::Image::ConstSharedPtr image)
  now() + rclcpp::Duration(std::chrono::duration<double>(throttle_))));
  }
 
- // publish barcode
+ // publish symbol
+ RCLCPP_DEBUG(get_logger(), "Publishing Symbol");
+ symbol_pub_->publish(symbol);
+
+ // publish on deprecated barcode topic
  RCLCPP_DEBUG(get_logger(), "Publishing data as string");
  std_msgs::msg::String barcode_string;
  barcode_string.data = symbol.data;
  barcode_pub_->publish(barcode_string);
-
- // publish symbol
- RCLCPP_DEBUG(get_logger(), "Publishing Symbol");
- symbol_pub_->publish(symbol);
  }
  } else {
  RCLCPP_DEBUG(get_logger(), "No barcode detected in image");