From 3088d046e91d8d5b6a9b447d842cc1f106d6bde9 Mon Sep 17 00:00:00 2001
From: Shintaro SAKODA <shintaro.sakoda@tier4.jp>
Date: Wed, 21 Feb 2024 09:21:31 +0900
Subject: [PATCH] Added coping input_source when rebuilding ndt

Signed-off-by: Shintaro SAKODA <shintaro.sakoda@tier4.jp>
---
 localization/ndt_scan_matcher/src/map_update_module.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/localization/ndt_scan_matcher/src/map_update_module.cpp b/localization/ndt_scan_matcher/src/map_update_module.cpp
index 17bafcfedfe80..d00f40b0b382c 100644
--- a/localization/ndt_scan_matcher/src/map_update_module.cpp
+++ b/localization/ndt_scan_matcher/src/map_update_module.cpp
@@ -71,12 +71,14 @@ void MapUpdateModule::update_map(const geometry_msgs::msg::Point & position)
   if (need_rebuild_) {
     ndt_ptr_mutex_->lock();
     auto param = ndt_ptr_->getParams();
+    auto input_source = ndt_ptr_->getInputSource();
 
     ndt_ptr_.reset(new NdtType);
 
     ndt_ptr_->setParams(param);
 
     update_ndt(position, *ndt_ptr_);
+    ndt_ptr_->setInputSource(input_source);
     ndt_ptr_mutex_->unlock();
     need_rebuild_ = false;
   } else {