Merge pull request #1829 from snwu1996/latched_gp_origin_pub

Made it such that the gp_origin topic publisher is latched.
mavlink · Feb 16, 2023 · 83cbdb7 · 83cbdb7
2 parents 6e5aa58 + f3c9f48
commit 83cbdb7
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/mavros/src/plugins/global_position.cpp b/mavros/src/plugins/global_position.cpp
@@ -84,7 +84,7 @@ class GlobalPositionPlugin : public plugin::PluginBase {
 		gp_hdg_pub = gp_nh.advertise<std_msgs::Float64>("compass_hdg", 10);
 
 		// global origin
-		gp_global_origin_pub = gp_nh.advertise<geographic_msgs::GeoPointStamped>("gp_origin", 10);
+		gp_global_origin_pub = gp_nh.advertise<geographic_msgs::GeoPointStamped>("gp_origin", 10, true);
 		gp_set_global_origin_sub = gp_nh.subscribe("set_gp_origin", 10, &GlobalPositionPlugin::set_gp_origin_cb, this);
 
 		// home position subscriber to set "map" origin