From 8c1513bc3bfc16e15bfde9573895e20edb4a617f Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Sat, 22 Mar 2025 21:14:47 -0700
Subject: [PATCH] cherry pick
 https://github.com/introlab/rtabmap_ros/commit/70ddb3fc839394a5b440fee56f1877c508d6b9ea

---
 rtabmap_slam/src/CoreWrapper.cpp | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/rtabmap_slam/src/CoreWrapper.cpp b/rtabmap_slam/src/CoreWrapper.cpp
index a26a58e3..ec9cc4a1 100644
--- a/rtabmap_slam/src/CoreWrapper.cpp
+++ b/rtabmap_slam/src/CoreWrapper.cpp
@@ -2815,7 +2815,10 @@ bool CoreWrapper::updateRtabmapCallback(std_srvs::Empty::Request&, std_srvs::Emp
 		NODELET_INFO("2D mapping = %s", twoDMapping_?"true":"false");
 	}
 	rtabmap_.parseParameters(parameters_);
-	mapsManager_.setParameters(parameters_);
+	// Don't reset map in localization mode
+	if(rtabmap_.getMemory()->isIncremental()) {
+		mapsManager_.setParameters(parameters_);
+	}
 	return true;
 }