Revision history [back]

I recommend the following simple logic in your publisher:

/** @brief Callback for raw scan messages. */
void Convert::processScan(const velodyne_msgs::VelodyneScan::ConstPtr &scanMsg)
{
  if (output_.getNumSubscribers() == 0)         // no one listening?
    return;                                     // avoid much work

  ...                                           // PointCloud2 conversion

  output_.publish(outMsg);                      // publish the message
}