From 766b5c2b8b4fd0c0f6535d2f774e1c08cb1fd411 Mon Sep 17 00:00:00 2001
From: Misheel Bayartsengel <misheel.bayart@gmail.com>
Date: Mon, 10 Jun 2024 19:59:15 -0400
Subject: [PATCH] Add guard for georeference

---
 bsm_generator/include/bsm_generator/bsm_generator_node.hpp | 3 ++-
 bsm_generator/src/bsm_generator_node.cpp                   | 6 +++++-
 2 files changed, 7 insertions(+), 2 deletions(-)

diff --git a/bsm_generator/include/bsm_generator/bsm_generator_node.hpp b/bsm_generator/include/bsm_generator/bsm_generator_node.hpp
index 76e1fda993..bb5d726429 100644
--- a/bsm_generator/include/bsm_generator/bsm_generator_node.hpp
+++ b/bsm_generator/include/bsm_generator/bsm_generator_node.hpp
@@ -71,7 +71,8 @@ namespace bsm_generator
 
     // The BSM object that all subscribers make updates to
     carma_v2x_msgs::msg::BSM bsm_;
-  
+
+    std::string georeference_ {""};
     std::shared_ptr<lanelet::projection::LocalFrameProjector> map_projector_;
 
     std::vector<uint8_t> bsm_message_id_;
diff --git a/bsm_generator/src/bsm_generator_node.cpp b/bsm_generator/src/bsm_generator_node.cpp
index 19d88284cd..3e2d28672c 100644
--- a/bsm_generator/src/bsm_generator_node.cpp
+++ b/bsm_generator/src/bsm_generator_node.cpp
@@ -127,7 +127,11 @@ namespace bsm_generator
   void BSMGenerator::georeferenceCallback(const std_msgs::msg::String::UniquePtr msg)
   {
     // Build projector from proj string
-    map_projector_ = std::make_shared<lanelet::projection::LocalFrameProjector>(msg->data.c_str());
+    if (georeference_ != msg->data)
+    {
+      georeference_ = msg->data;
+      map_projector_ = std::make_shared<lanelet::projection::LocalFrameProjector>(msg->data.c_str());
+    }
   }
 
   void BSMGenerator::speedCallback(const geometry_msgs::msg::TwistStamped::UniquePtr msg)