fix(ndt_scan_matcher): added coping input_source when rebuilding ndt (#…

…6464) Added coping input_source when rebuilding ndt Signed-off-by: Shintaro SAKODA <[email protected]> Co-authored-by: Anh Nguyen <[email protected]>
autowarefoundation · Feb 22, 2024 · 6af3496 · 6af3496
1 parent 2389c15
commit 6af3496
Showing 1 changed file with 2 additions and 0 deletions.
diff --git 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 {