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README.md

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Prereq:

  • Checkout gazebo9.13 branch
  • Add following to TopicManager
//////////////////////////////////////////////////
void TopicManager::clearAdvertisedTopics(){
  this->advertisedTopics.clear();
}
  • Build gazebo

Build

mkdir build
cd build
make

Run

In separate terminals run,

1. gzserver
2. <path-to-repo>/build/request_publisher "(-10,10)(10,10)(10,-10)(-10,-10)" 10 0.01 ~/map.png
3. <path-to-repo>/build/request_subscriber
  • On successful execution you should see the following exception:
request_publisher: /usr/include/boost/smart_ptr/shared_ptr.hpp:734: typename boost::detail::sp_member_access<T>::type boost::shared_ptr<T>::operator->() const [with T = gazebo::transport::Publication; typename boost::detail::sp_member_access<T>::type = gazebo::transport::Publication*]: Assertion `px != 0' failed.