unsubscribe in OrganizedStatisticalOutlierRemoval

jsk-ros-pkg · May 10, 2024 · a89a193 · a89a193
1 parent e884756
commit a89a193
Showing 1 changed file with 9 additions and 1 deletion.
diff --git a/jsk_pcl_ros/src/organized_statistical_outlier_removal_nodelet.cpp b/jsk_pcl_ros/src/organized_statistical_outlier_removal_nodelet.cpp
@@ -94,7 +94,15 @@ namespace jsk_pcl_ros
 
   void OrganizedStatisticalOutlierRemoval::unsubscribe()
   {
-    sub_.shutdown();
+    if (use_cpi_)
+    {
+      sub_cloud_.unsubscribe();
+      sub_cpi_.unsubscribe();
+    }
+    else
+    {
+      sub_.shutdown();
+    }
   }
 
   void OrganizedStatisticalOutlierRemoval::configCallback(Config &config, uint32_t level)