From ef81277061353ed72a1c80b32cf28ace17c4dbea Mon Sep 17 00:00:00 2001
From: Mani Monajjemi <mani.monajjemi@gmail.com>
Date: Fri, 3 Aug 2012 15:37:41 -0700
Subject: [PATCH] Fixed critical bug in subscribers check in publish video.

---
 Makefile               |  2 +-
 src/ardrone_driver.cpp | 12 ++++++------
 2 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/Makefile b/Makefile
index bbd3fc6..b75b928 100644
--- a/Makefile
+++ b/Makefile
@@ -1 +1 @@
-include $(shell rospack find mk)/cmake.mk
+include $(shell rospack find mk)/cmake.mk
\ No newline at end of file
diff --git a/src/ardrone_driver.cpp b/src/ardrone_driver.cpp
index faa4cab..cc8b638 100644
--- a/src/ardrone_driver.cpp
+++ b/src/ardrone_driver.cpp
@@ -60,12 +60,12 @@ double ARDroneDriver::getRosParam(char* param, double defaultVal)
 
 void ARDroneDriver::publish_video()
 {
-	if (image_pub.getNumSubscribers() == 0)
-        return;
-    if (hori_pub.getNumSubscribers() == 0)
-        return;
-	if (vert_pub.getNumSubscribers() == 0)
-        return;
+    if (
+            (image_pub.getNumSubscribers() == 0) &&
+            (hori_pub.getNumSubscribers() == 0) &&
+            (vert_pub.getNumSubscribers() == 0)
+       ) return;
+
     if (IS_ARDRONE1)
     {
         /*