Adds latch functionality to topic_tools/transform (#1341)

ros · Apr 23, 2018 · 5c7bcc0 · 5c7bcc0
1 parent d21a33c
commit 5c7bcc0
Showing 1 changed file with 5 additions and 1 deletion.
diff --git a/tools/topic_tools/scripts/transform b/tools/topic_tools/scripts/transform
@@ -59,6 +59,10 @@ class TopicOp:
             '--wait-for-start', action='store_true',
             help='Wait for input messages.'
         )
+        parser.add_argument(
+            '--latch', action='store_true',
+            help='Set publisher to latched.'
+        )
 
         # get and strip out ros args first
         argv = rospy.myargv()
@@ -84,7 +88,7 @@ class TopicOp:
         self.output_class = roslib.message.get_message_class(args.output_type)
 
         self.sub = rospy.Subscriber(input_topic, input_class, self.callback)
-        self.pub = rospy.Publisher(args.output_topic, self.output_class, queue_size=1)
+        self.pub = rospy.Publisher(args.output_topic, self.output_class, queue_size=1, latch=args.latch)
 
     def callback(self, m):
         if self.input_fn is not None: