Function testMapSubscription

frontend/src/components/map-view.tsx:304–343

()

        // Test direct subscription to map topic first
        const testMapSubscription = () => {
          const mapListener = new ROSLIB.Topic({
            ros: connection.ros!,
            name: mapTopic,
            messageType: 'nav_msgs/OccupancyGrid'
          });

          console.log(`Testing direct subscription to ${mapTopic}`);
          
          mapListener.subscribe((message: any) => {
            console.log('Raw map message received!', {
              hasInfo: !!message.info,
              hasData: !!message.data,
              dataLength: message.data?.length,
              width: message.info?.width,
              height: message.info?.height,
              resolution: message.info?.resolution
            });
            
            // If we get data via direct subscription but not via ROS2D,
            // it might be a ROS2D compatibility issue
            if (message.info && message.data) {
              console.warn('Map data received via direct subscription but ROS2D might not be updating');
              // Try the fallback renderer if we're getting data but ROS2D isn't working
              setTimeout(() => {
                if (!gridClientRef.current?.currentGrid) {
                  console.log('ROS2D not working, trying fallback');
                  if (tryFallbackMapRenderingRef.current) {
                    tryFallbackMapRenderingRef.current();
                  }
                }
              }, 2000);
            }
          });

          // Clean up after 10 seconds
          setTimeout(() => {
            mapListener.unsubscribe();
          }, 10000);
        };

        testMapSubscription();