From 82c6dd7af4acd82a9a19a59a98e80cc3048e7485 Mon Sep 17 00:00:00 2001 From: Devin Hilly Date: Wed, 19 Apr 2023 17:26:21 -0400 Subject: [PATCH] [RSDK-2560] Don't update map in localization mode (#52) --- viam-cartographer/src/slam_service/slam_service.cc | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/viam-cartographer/src/slam_service/slam_service.cc b/viam-cartographer/src/slam_service/slam_service.cc index 504daf11..4690ed07 100644 --- a/viam-cartographer/src/slam_service/slam_service.cc +++ b/viam-cartographer/src/slam_service/slam_service.cc @@ -107,7 +107,8 @@ ::grpc::Status SLAMServiceImpl::GetPointCloudMap( try { std::shared_lock optimization_lock{optimization_shared_mutex, std::defer_lock}; - if (optimization_lock.try_lock()) { + if (action_mode != ActionMode::LOCALIZING && + optimization_lock.try_lock()) { // We are able to lock the optimization_shared_mutex, which means // that the optimization is not ongoing and we can grab the newest // map