Set map_received to true

ros-navigation · Oct 15, 2019 · 2edfb83 · 2edfb83
1 parent 090ddc7
commit 2edfb83
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/nav2_costmap_2d/plugins/static_layer.cpp b/nav2_costmap_2d/plugins/static_layer.cpp
@@ -139,6 +139,7 @@ StaticLayer::getParameters()
 
   // Enforce bounds
   lethal_threshold_ = std::max(std::min(temp_lethal_threshold, 100), 0);
+  map_received_ = false;
 }
 
 void
@@ -241,6 +242,9 @@ StaticLayer::incomingMap(const nav_msgs::msg::OccupancyGrid::SharedPtr new_map)
 {
   std::lock_guard<Costmap2D::mutex_t> guard(*getMutex());
   processMap(*new_map);
+  if (!map_received_) {
+    map_received_ = true;
+  }
 }
 
 void