Prevent publishing empty poses in pose publisher (#3262)

iche033 · iche033 · commit bca3e0cd7374 · 2026-01-12T13:36:58.000-08:00
Signed-off-by: Ian Chen <ichen@openrobotics.org> (cherry picked from commit 80246e0)
diff --git a/src/systems/pose_publisher/PosePublisher.cc b/src/systems/pose_publisher/PosePublisher.cc
@@ -527,6 +527,9 @@ void PosePublisherPrivate::PublishPoses(
 {
   GZ_PROFILE("PosePublisher::PublishPoses");
 
+  if (_poses.empty())
+    return;
+
   // publish poses
   msgs::Pose *msg = nullptr;
   if (this->usePoseV)

Original file line number	Diff line number	Diff line change
`@@ -527,6 +527,9 @@ void PosePublisherPrivate::PublishPoses(`
`527`	`527`	`{`
`528`	`528`	`GZ_PROFILE("PosePublisher::PublishPoses");`
`529`	`529`
	`530`	`+ if (_poses.empty())`
	`531`	`+ return;`
	`532`	`+`
`530`	`533`	`// publish poses`
`531`	`534`	`msgs::Pose *msg = nullptr;`
`532`	`535`	`if (this->usePoseV)`