don't advertise services if feature not enabled

ros-perception · Feb 8, 2024 · d7f44d2 · d7f44d2
1 parent 44d5b36
commit d7f44d2
Showing 1 changed file with 15 additions and 10 deletions.
diff --git a/image_view/src/image_saver_node.cpp b/image_view/src/image_saver_node.cpp
@@ -104,16 +104,21 @@ ImageSaverNode::ImageSaverNode(const rclcpp::NodeOptions & options)
  std::bind(
  &ImageSaverNode::service, this, std::placeholders::_1, std::placeholders::_2,
  std::placeholders::_3));
- start_srv_ = this->create_service<std_srvs::srv::Trigger>(
- "start",
- std::bind(
- &ImageSaverNode::callbackStartSave, this, std::placeholders::_1, std::placeholders::_2,
- std::placeholders::_3));
- end_srv_ = this->create_service<std_srvs::srv::Trigger>(
- "end",
- std::bind(
- &ImageSaverNode::callbackEndSave, this, std::placeholders::_1, std::placeholders::_2,
- std::placeholders::_3));
+
+ // Advertise start/end services if the feature is enabled
+ if (request_start_end_)
+ {
+ start_srv_ = this->create_service<std_srvs::srv::Trigger>(
+ "start",
+ std::bind(
+ &ImageSaverNode::callbackStartSave, this, std::placeholders::_1, std::placeholders::_2,
+ std::placeholders::_3));
+ end_srv_ = this->create_service<std_srvs::srv::Trigger>(
+ "end",
+ std::bind(
+ &ImageSaverNode::callbackEndSave, this, std::placeholders::_1, std::placeholders::_2,
+ std::placeholders::_3));
+ }
 }
 
 bool ImageSaverNode::saveImage(