From a44c04d191a6854ffca01f90ef5d0791ec0b7bd1 Mon Sep 17 00:00:00 2001
From: Egor Bredikhin <egor.bredikhin@avidbots.com>
Date: Mon, 2 Nov 2020 11:03:06 -0500
Subject: [PATCH] Fix initialization order for _unit_step_size

---
 realsense2_camera/src/realsense_node.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/realsense2_camera/src/realsense_node.cpp b/realsense2_camera/src/realsense_node.cpp
index f85dd409f0..f36b112e6c 100644
--- a/realsense2_camera/src/realsense_node.cpp
+++ b/realsense2_camera/src/realsense_node.cpp
@@ -28,9 +28,6 @@ RealSenseNode::RealSenseNode(const ros::NodeHandle &nodeHandle,
     _intialize_time_base(false),
     _namespace(getNamespaceStr())
 {
-     getParameters();
-     getDevice();
-
     // Types for depth stream
     _is_frame_arrived[DEPTH] = false;
     _format[DEPTH] = RS2_FORMAT_Z16;   // libRS type
@@ -91,6 +88,9 @@ RealSenseNode::RealSenseNode(const ros::NodeHandle &nodeHandle,
     _unit_step_size[ACCEL] = sizeof(uint8_t); // sensor_msgs::ImagePtr row step size
     _stream_name[ACCEL] = "accel";
 
+    getParameters();
+    getDevice();
+
     // TODO: Improve the pipeline to accept decimation filter
     // TODO: Provide disparity map if requested
     filters.emplace_back("Depth_to_Disparity", depth_to_disparity);