From 2c7616ffa8c8cb0c9f2c0b61c11eee944cc9f2ae Mon Sep 17 00:00:00 2001
From: Michael Grupp <grupp@magazino.eu>
Date: Wed, 4 Dec 2024 16:02:59 +0100
Subject: [PATCH] Fix segfault caused by uninitialized publisher

Crash occurs for example when running the demo_warehouse.launch with
ROS 1. Debug build + gdb revealed that the issue was this publisher.
---
 mvsim_node_src/mvsim_node.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/mvsim_node_src/mvsim_node.cpp b/mvsim_node_src/mvsim_node.cpp
index f756794a..ca9c0b30 100644
--- a/mvsim_node_src/mvsim_node.cpp
+++ b/mvsim_node_src/mvsim_node.cpp
@@ -1264,6 +1264,8 @@ void MVSimNode::internalOn(const mvsim::VehicleBase& veh, const mrpt::obs::CObse
 #if PACKAGE_ROS_VERSION == 1
 		pubImg = mvsim_node::make_shared<ros::Publisher>(
 			n_.advertise<Msg_Image>(vehVarName(img_topic, veh), publisher_history_len_));
+		pubCamInfo = mvsim_node::make_shared<ros::Publisher>(
+			n_.advertise<Msg_CameraInfo>(vehVarName(camInfo_topic, veh), publisher_history_len_));
 #else
 		pubImg = mvsim_node::make_shared<PublisherWrapper<Msg_Image>>(
 			n_, vehVarName(img_topic, veh), publisher_history_len_);