From d0db317244f2c5c7a55d70e31bfb95e631dd96da Mon Sep 17 00:00:00 2001
From: jyjblrd <jyjbird@gmail.com>
Date: Sat, 13 Apr 2024 20:25:47 +0100
Subject: [PATCH] stupid me

---
 src/orb_slam3_ros/src/ros_mono.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/orb_slam3_ros/src/ros_mono.cpp b/src/orb_slam3_ros/src/ros_mono.cpp
index 970879d..53a4124 100644
--- a/src/orb_slam3_ros/src/ros_mono.cpp
+++ b/src/orb_slam3_ros/src/ros_mono.cpp
@@ -24,7 +24,7 @@ class OrbSlam3Mono : public OrbSlam3Wrapper {
     this->declare_parameter("reliableImageTransport", true);
     bool reliableImageTransport = this->get_parameter("reliableImageTransport").as_bool();
 
-    this->declare_parameter("compressedImage", false);
+    this->declare_parameter("compressedImage", true);
     bool compressedImage = this->get_parameter("compressedImage").as_bool();
 
     image_subscriber_thread = std::thread([this, imageTopic, reliableImageTransport, compressedImage]() {
@@ -39,6 +39,7 @@ class OrbSlam3Mono : public OrbSlam3Wrapper {
           reliableImageTransport ? RELIABLE_QOS : BEST_EFFORT_QOS,
           std::bind(&OrbSlam3Mono::grab_image, this, std::placeholders::_1));
       }
+      rclcpp::spin(sub_node);
     });
 
     run();