c++14 in CML for ros-noetic & fix fisrt time not displayed

Author: kyleYehh

src/CMakeLists.txt

@@ -1 +1 @@
-/opt/ros/kinetic/share/catkin/cmake/toplevel.cmake
+/opt/ros/noetic/share/catkin/cmake/toplevel.cmake

src/map_gen/map_generator/CMakeLists.txt

@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 2.8.3)
 project(map_generator)
 
 set(CMAKE_BUILD_TYPE "Release")
-set(CMAKE_CXX_FLAGS "-std=c++11")
+set(CMAKE_CXX_FLAGS "-std=c++14")
 set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g")
 
 find_package(catkin REQUIRED COMPONENTS

src/map_gen/mockamap/CMakeLists.txt

@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 2.8.3)
 project(mockamap)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
-add_compile_options(-std=c++11)
+add_compile_options(-std=c++14)
 
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)

src/occ_grid/CMakeLists.txt

@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 2.8.3)
 project(occ_grid)
 
 set(CMAKE_BUILD_TYPE "Release")
-set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS} -O3 -Wall")
+set(CMAKE_CXX_FLAGS "-std=c++14 ${CMAKE_CXX_FLAGS} -O3 -Wall")
 
 find_package(catkin REQUIRED COMPONENTS
   roscpp

src/path_finder/CMakeLists.txt

@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 3.0.2)
 project(path_finder)
 
-add_compile_options(-std=c++11)
+add_compile_options(-std=c++14)
 set(CMAKE_BUILD_TYPE "Release")
 set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g -fPIC")
 

src/path_finder/include/visualization/visualization.hpp

@@ -510,6 +510,15 @@ namespace visualization
             }
             publisher_map_[topic].publish(path_list_msg);
         }
+
+        template <class TOPIC_TYPE, class TOPIC>
+        void registe(const TOPIC& topic) {
+            auto got = publisher_map_.find(topic);
+            if (got == publisher_map_.end()) {
+                ros::Publisher pub = nh_.advertise<TOPIC_TYPE>(topic, 10);
+                publisher_map_[topic] = pub;
+            }
+        }
     };
 
 } // namespace visualization