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

…4517) Signed-off-by: Joey Yang <joeyyang.ai@gmail.com>
ros-navigation · Aug 23, 2024 · 215b3f9 · 215b3f9
1 parent fef63a1
commit 215b3f9
Showing 1 changed file with 1 addition and 0 deletions.
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;