feat(ndt_scan_matcher): fix first update map (#6699)

YamatoAndo · web-flow · commit 46e3ad42d62b · 2024-04-01T15:50:11.000+09:00
Signed-off-by: Yamato Ando &lt;yamato.ando@tier4.jp&gt;
diff --git a/localization/ndt_scan_matcher/src/map_update_module.cpp b/localization/ndt_scan_matcher/src/map_update_module.cpp
@@ -48,7 +48,8 @@ MapUpdateModule::MapUpdateModule(
 bool MapUpdateModule::should_update_map(const geometry_msgs::msg::Point & position)
 {
   if (last_update_position_ == std::nullopt) {
-    return false;
+    need_rebuild_ = true;
+    return true;
   }
 
   const double dx = position.x - last_update_position_.value().x;

Original file line number	Diff line number	Diff line change
`@@ -48,7 +48,8 @@ MapUpdateModule::MapUpdateModule(`
`48`	`48`	`bool MapUpdateModule::should_update_map(const geometry_msgs::msg::Point & position)`
`49`	`49`	`{`
`50`	`50`	`if (last_update_position_ == std::nullopt) {`
`51`		`- return false;`
	`51`	`+ need_rebuild_ = true;`
	`52`	`+ return true;`
`52`	`53`	`}`
`53`	`54`
`54`	`55`	`const double dx = position.x - last_update_position_.value().x;`