Return out of map update if frames mismatch. Signed-off-by Joey Yang (#4517)

joeyjyyang · SteveMacenski · commit 23ad6feaefd4 · 2024-08-23T23:36:01.000Z
Signed-off-by: Joey Yang &lt;joeyyang.ai@gmail.com&gt;
diff --git a/nav2_costmap_2d/plugins/static_layer.cpp b/nav2_costmap_2d/plugins/static_layer.cpp
@@ -318,6 +318,7 @@ StaticLayer::incomingUpdate(map_msgs::msg::OccupancyGridUpdate::ConstSharedPtr u
       "StaticLayer: Map update ignored. Current map is in frame %s "
       "but update was in frame %s",
       map_frame_.c_str(), update->header.frame_id.c_str());
+    return;
   }
 
   unsigned int di = 0;

Original file line number	Diff line number	Diff line change
`@@ -318,6 +318,7 @@ StaticLayer::incomingUpdate(map_msgs::msg::OccupancyGridUpdate::ConstSharedPtr u`
`318`	`318`	`"StaticLayer: Map update ignored. Current map is in frame %s "`
`319`	`319`	`"but update was in frame %s",`
`320`	`320`	`map_frame_.c_str(), update->header.frame_id.c_str());`
	`321`	`+ return;`
`321`	`322`	`}`
`322`	`323`
`323`	`324`	`unsigned int di = 0;`