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merged master->ros2

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matlabbe
2025-09-25 01:38:26 -07:00
parent 6e84c77d90 4b0067d875
commit 1a7403dbf6
5 changed files with 132 additions and 42 deletions
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rtabmap_util/src/MapsManager.cpp
+3 -1
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@@ -526,7 +526,9 @@ std::map<int, rtabmap::Transform> MapsManager::updateMapCaches(
if(!iter->second.isNull())
{
rtabmap::SensorData data;
if(iter->first == 0 || (addedNodes->find(iter->first) == addedNodes->end() && !uContains(localMaps_.localGrids(), iter->first)))
if(iter->first == 0 || (
(fullUpdateNeeded || addedNodes->find(iter->first) == addedNodes->end()) &&
!uContains(localMaps_.localGrids(), iter->first)))
{
UDEBUG("Data required for %d", iter->first);
std::map<int, rtabmap::Signature>::const_iterator findIter = signatures.find(iter->first);