From 891f9c7af1c6134ee311ac35e5e8008a892e0b70 Mon Sep 17 00:00:00 2001
From: tanaka3 <ttatcoder@outlook.jp>
Date: Fri, 24 Dec 2021 12:49:54 +0900
Subject: [PATCH] fix: order to create callback

Signed-off-by: tanaka3 <ttatcoder@outlook.jp>
---
 localization/pose2twist/src/pose2twist_core.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/localization/pose2twist/src/pose2twist_core.cpp b/localization/pose2twist/src/pose2twist_core.cpp
index 00109ac37b9d9..9eeb5f359695d 100644
--- a/localization/pose2twist/src/pose2twist_core.cpp
+++ b/localization/pose2twist/src/pose2twist_core.cpp
@@ -28,13 +28,13 @@ Pose2Twist::Pose2Twist() : Node("pose2twist_core")
   rclcpp::QoS durable_qos(queue_size);
   durable_qos.transient_local();
 
-  pose_sub_ = create_subscription<geometry_msgs::msg::PoseStamped>(
-    "pose", queue_size, std::bind(&Pose2Twist::callbackPose, this, _1));
-
   twist_pub_ = create_publisher<geometry_msgs::msg::TwistStamped>("twist", durable_qos);
   linear_x_pub_ = create_publisher<tier4_debug_msgs::msg::Float32Stamped>("linear_x", durable_qos);
   angular_z_pub_ =
     create_publisher<tier4_debug_msgs::msg::Float32Stamped>("angular_z", durable_qos);
+  // Note: this callback publishes topics above
+  pose_sub_ = create_subscription<geometry_msgs::msg::PoseStamped>(
+    "pose", queue_size, std::bind(&Pose2Twist::callbackPose, this, _1));
 }
 
 double calcDiffForRadian(const double lhs_rad, const double rhs_rad)