-

modules/catkin_ws/src/car/src/ultrasonic/Ultrasonic.cpp

@@ -21,19 +21,16 @@ Ultrasonic::~Ultrasonic()
 
 void Ultrasonic::onInit()
 {
-    int dist = getDistance();
-    
     NODELET_INFO("Ultrasonic::onInit -- START");
     ussData = nh_.advertise<ussDataMsg>("ussData", 1);
     main = boost::thread(
         [this]()
         {
-            int counter = 0;
             ros::Rate rate{1};
             while (ros::ok())
             {
                 ussDataMsg msg;
-                msg.distance = counter++;
+                msg.distance = getDistance();
                 ussData.publish(msg);
                 rate.sleep();
             }