From 2edfb83152f71e771b683c6f834ed1c69b62fbe4 Mon Sep 17 00:00:00 2001
From: Matthew Hansen <matthew.k.hansen@intel.com>
Date: Mon, 14 Oct 2019 20:14:04 -0700
Subject: [PATCH] Set map_received to true

---
 nav2_costmap_2d/plugins/static_layer.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/nav2_costmap_2d/plugins/static_layer.cpp b/nav2_costmap_2d/plugins/static_layer.cpp
index 8d78f4a89ab..7a04b24739f 100644
--- 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