From 9b277126026a2eaad97a7c78b385a31e8d2d40b4 Mon Sep 17 00:00:00 2001
From: Joey Yang <joeyyang.ai@gmail.com>
Date: Thu, 4 Jul 2024 11:42:29 -0400
Subject: [PATCH] Return out of map update if frames mismatch. Signed-off-by
 Joey Yang (#4517)

Signed-off-by: Joey Yang <joeyyang.ai@gmail.com>
---
 nav2_costmap_2d/plugins/static_layer.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/nav2_costmap_2d/plugins/static_layer.cpp b/nav2_costmap_2d/plugins/static_layer.cpp
index 729530d82b..25a10e3bd8 100644
--- a/nav2_costmap_2d/plugins/static_layer.cpp
+++ b/nav2_costmap_2d/plugins/static_layer.cpp
@@ -318,6 +318,7 @@ StaticLayer::incomingUpdate(map_msgs::msg::OccupancyGridUpdate::ConstSharedPtr u
       "StaticLayer: Map update ignored. Current map is in frame %s "
       "but update was in frame %s",
       map_frame_.c_str(), update->header.frame_id.c_str());
+    return;
   }
 
   unsigned int di = 0;