updated the h264 bag playback callbacks, fixed a bug with the velodyne_correction

corrected_bag_playback/src/corrected_bag_playback.cpp

@@ -49,15 +49,16 @@ public:
     private_nh.setParam("bag_file", bag_file);
   }
 
-  void SendToPublisher(ros::Publisher &publisher, rosbag::MessageInstance message) {
+  void MessagePublisher(ros::Publisher &publisher, rosbag::MessageInstance message) {
 
     auto lidar_msg = message.instantiate<velodyne_msgs::VelodyneScan>();
     if (lidar_msg && message.getTopic() == "/velodyne/front/velodyne_packets") {
       correction_pipeline.receive_message(lidar_msg);
     }
-
-    // if you want to publish all of the bag topics, include the following line
-    publisher.publish(message);
+    else {
+      // if you want to publish all of the bag topics, include the following line
+      publisher.publish(message);
+    }
   }
 
   CorrectionPipeline correction_pipeline;
@@ -79,7 +80,7 @@ public:
     private_nh.setParam("bag_file", bag_file);
   }
 
-  void SendToPublisher(ros::Publisher &publisher, rosbag::MessageInstance message) {
+  void MessagePublisher(ros::Publisher &publisher, rosbag::MessageInstance message) {
 
     auto tf_msg = message.instantiate<tf2_msgs::TFMessage>();
     if (tf_msg && message.getTopic() == "/tf_static") {

velodyne_correction/src/velodyne_correction.cpp

@@ -35,7 +35,7 @@ int main(int argc, char **argv) {
 
 
 VelodyneCorrection::VelodyneCorrection(std::string param_path,
-        std::string frame) : MotionCorrection(frame, param_path, packets_per_scan) {
+        std::string frame) : MotionCorrection(param_path, frame, packets_per_scan) {
 
   std::string s_path;
   std::stringstream ss;