Set map_received to true

Matthew Hansen · Matt Hansen · commit 2edfb83152f7 · 2019-10-15T11:27:29.000-07:00
diff --git a/nav2_costmap_2d/plugins/static_layer.cpp b/nav2_costmap_2d/plugins/static_layer.cpp
@@ -139,6 +139,7 @@ StaticLayer::getParameters()
 
   // Enforce bounds
   lethal_threshold_ = std::max(std::min(temp_lethal_threshold, 100), 0);
+  map_received_ = false;
 }
 
 void
@@ -241,6 +242,9 @@ StaticLayer::incomingMap(const nav_msgs::msg::OccupancyGrid::SharedPtr new_map)
 {
   std::lock_guard<Costmap2D::mutex_t> guard(*getMutex());
   processMap(*new_map);
+  if (!map_received_) {
+    map_received_ = true;
+  }
 }
 
 void

Original file line number	Diff line number	Diff line change
`@@ -139,6 +139,7 @@ StaticLayer::getParameters()`
`139`	`139`
`140`	`140`	`// Enforce bounds`
`141`	`141`	`lethal_threshold_ = std::max(std::min(temp_lethal_threshold, 100), 0);`
	`142`	`+ map_received_ = false;`
`142`	`143`	`}`
`143`	`144`
`144`	`145`	`void`
`@@ -241,6 +242,9 @@ StaticLayer::incomingMap(const nav_msgs::msg::OccupancyGrid::SharedPtr new_map)`
`241`	`242`	`{`
`242`	`243`	`std::lock_guard<Costmap2D::mutex_t> guard(*getMutex());`
`243`	`244`	`processMap(*new_map);`
	`245`	`+ if (!map_received_) {`
	`246`	`+ map_received_ = true;`
	`247`	`+ }`
`244`	`248`	`}`
`245`	`249`
`246`	`250`	`void`