From a468011ac826bd0da4635116574bf7cbcfb5221b Mon Sep 17 00:00:00 2001
From: stevemacenski <stevenmacenski@gmail.com>
Date: Fri, 16 Feb 2018 00:34:37 -0800
Subject: [PATCH] removing recomputation of cluster stats causing assertion
 error (#634)

---
 amcl/src/amcl_node.cpp | 5 -----
 1 file changed, 5 deletions(-)

diff --git a/amcl/src/amcl_node.cpp b/amcl/src/amcl_node.cpp
index cc58d8a767..b77268538c 100644
--- a/amcl/src/amcl_node.cpp
+++ b/amcl/src/amcl_node.cpp
@@ -1263,11 +1263,6 @@ AmclNode::laserReceived(const sensor_msgs::LaserScanConstPtr& laser_scan)
 
   if(resampled || force_publication)
   {
-    if (!resampled)
-    {
-	    // re-compute the cluster statistics
-	    pf_cluster_stats(pf_, pf_->sets);
-    }
     // Read out the current hypotheses
     double max_weight = 0.0;
     int max_weight_hyp = -1;