Fix adding Octree to entity_container

tesseract-robotics · May 1, 2024 · bc4ed46 · bc4ed46
1 parent 92aa625
commit bc4ed46
Showing 1 changed file with 9 additions and 8 deletions.
diff --git a/tesseract_rviz/src/conversions.cpp b/tesseract_rviz/src/conversions.cpp
@@ -746,14 +746,15 @@ Ogre::SceneNode* loadLinkGeometry(Ogre::SceneManager& scene,
 
       for (unsigned i = 0; i < octree_depth; ++i)
       {
-        OctreeDataContainer data;
-        data.size = static_cast<float>(octree->getNodeSize(static_cast<unsigned>(i + 1)));
-        data.points = std::vector<rviz_rendering::PointCloud::Point>(pointBuf[i]);
-        data.point_cloud = createPointCloud(std::move(pointBuf[i]), entity_container, data.size, octomap.getSubType());
-        data.shape_type = octomap.getSubType();
-
-        offset_node->attachObject(data.point_cloud.get());
-        entity_container.addUntrackedUnmanagedObject(tesseract_gui::EntityContainer::VISUAL_NS, data.point_cloud);
+        auto data = std::make_shared<OctreeDataContainer>();
+        data->size = static_cast<float>(octree->getNodeSize(static_cast<unsigned>(i + 1)));
+        data->points = std::vector<rviz_rendering::PointCloud::Point>(pointBuf[i]);
+        data->point_cloud =
+            createPointCloud(std::move(pointBuf[i]), entity_container, data->size, octomap.getSubType());
+        data->shape_type = octomap.getSubType();
+
+        offset_node->attachObject(data->point_cloud.get());
+        entity_container.addUntrackedUnmanagedObject(tesseract_gui::EntityContainer::VISUAL_NS, data);
       }
 
       offset_node->setScale(ogre_scale);