Make covariance always available

ros-controls · Jan 14, 2025 · 165c3c3 · 165c3c3
1 parent d638af7
commit 165c3c3
Showing 1 changed file with 1 addition and 6 deletions.
diff --git a/controller_interface/include/semantic_components/gps_sensor.hpp b/controller_interface/include/semantic_components/gps_sensor.hpp
@@ -42,7 +42,6 @@ class GPSSensor : public SemanticComponentInterface<sensor_msgs::msg::NavSatFix>
       interface_names_.emplace_back(name + "/" + "latitude_covariance");
       interface_names_.emplace_back(name + "/" + "longitude_covariance");
       interface_names_.emplace_back(name + "/" + "altitude_covariance");
-      covariance_.fill(0.0);
     }
   }
 
@@ -118,11 +117,7 @@ class GPSSensor : public SemanticComponentInterface<sensor_msgs::msg::NavSatFix>
   }
 
 private:
-  struct Empty
-  {
-  };
-  using CovarianceArray = std::conditional_t<use_covariance, std::array<double, 9>, Empty>;
-  CovarianceArray covariance_;
+  std::array<double, 9> covariance_{{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}};
 };
 
 }  // namespace semantic_components