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1 parent 9120c08 commit 3088d04Copy full SHA for 3088d04
localization/ndt_scan_matcher/src/map_update_module.cpp
@@ -71,12 +71,14 @@ void MapUpdateModule::update_map(const geometry_msgs::msg::Point & position)
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if (need_rebuild_) {
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ndt_ptr_mutex_->lock();
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auto param = ndt_ptr_->getParams();
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+ auto input_source = ndt_ptr_->getInputSource();
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ndt_ptr_.reset(new NdtType);
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ndt_ptr_->setParams(param);
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update_ndt(position, *ndt_ptr_);
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+ ndt_ptr_->setInputSource(input_source);
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ndt_ptr_mutex_->unlock();
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need_rebuild_ = false;
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} else {
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