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clear already reported observations #1140

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clear already reported observations #1140

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5 changes: 2 additions & 3 deletions costmap_2d/src/observation_buffer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -191,15 +191,14 @@ void ObservationBuffer::bufferCloud(const sensor_msgs::PointCloud2& cloud)
// returns a copy of the observations
void ObservationBuffer::getObservations(vector<Observation>& observations)
{
// first... let's make sure that we don't have any stale observations
purgeStaleObservations();

// now we'll just copy the observations for the caller
list<Observation>::iterator obs_it;
for (obs_it = observation_list_.begin(); obs_it != observation_list_.end(); ++obs_it)
{
observations.push_back(*obs_it);
}

observation_list_.clear();
}

void ObservationBuffer::purgeStaleObservations()
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