getOdom is const (#100)

rapyuta-robotics · Oct 28, 2024 · 48b6977 · 48b6977
1 parent 294ee8b
commit 48b6977
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/base_local_planner/include/base_local_planner/odometry_helper_ros.h b/base_local_planner/include/base_local_planner/odometry_helper_ros.h
@@ -61,7 +61,7 @@ class OdometryHelperRos {
    */
   void odomCallback(const nav_msgs::Odometry::ConstPtr& msg);
 
-  void getOdom(nav_msgs::Odometry& base_odom);
+  void getOdom(nav_msgs::Odometry& base_odom) const;
 
   void getRobotVel(geometry_msgs::PoseStamped& robot_vel);
 
@@ -82,7 +82,7 @@ class OdometryHelperRos {
   // we listen on odometry on the odom topic
   ros::Subscriber odom_sub_;
   nav_msgs::Odometry base_odom_;
-  boost::mutex odom_mutex_;
+  mutable boost::mutex odom_mutex_;
   // global tf frame id
   std::string frame_id_; ///< The frame_id associated this data
 };

diff --git a/base_local_planner/src/odometry_helper_ros.cpp b/base_local_planner/src/odometry_helper_ros.cpp
@@ -59,7 +59,7 @@ void OdometryHelperRos::odomCallback(const nav_msgs::Odometry::ConstPtr& msg) {
 }
 
 //copy over the odometry information
-void OdometryHelperRos::getOdom(nav_msgs::Odometry& base_odom) {
+void OdometryHelperRos::getOdom(nav_msgs::Odometry& base_odom) const {
   boost::mutex::scoped_lock lock(odom_mutex_);
   base_odom = base_odom_;
 }