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Fixed crash when raycasting while map is updated. #1793

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merged 2 commits into from
May 25, 2023
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Fixed crash when raycasting while map is updated. #1793

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4d64f3f
Fixed crash when raycasting while map is updated.
StefanFabian May 4, 2023
ab9eeb2
Add reasoning behind queued connection as comment.
StefanFabian May 25, 2023
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5 changes: 4 additions & 1 deletion src/rviz/default_plugin/map_display.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -221,7 +221,10 @@ void Swatch::updateData()

MapDisplay::MapDisplay() : Display(), loaded_(false), resolution_(0.0f), width_(0), height_(0)
{
connect(this, SIGNAL(mapUpdated()), this, SLOT(showMap()));
// HACK: Using a direct connection triggers a segfault on NVIDIA hardware (#1793) when rendering
// *and* having performed a depth rendering before (e.g. due to raycasting for selections)
// A queued connection delays the update of renderables after the current VisualizationManager::onUpdate() call
connect(this, SIGNAL(mapUpdated()), this, SLOT(showMap()), Qt::QueuedConnection);
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topic_property_ = new RosTopicProperty(
"Topic", "", QString::fromStdString(ros::message_traits::datatype<nav_msgs::OccupancyGrid>()),
"nav_msgs::OccupancyGrid topic to subscribe to.", this, SLOT(updateTopic()));
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