From 9c003ccae5119890491b29eb667d5950d7eecd0b Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Fri, 30 Jan 2026 22:03:31 +0000
Subject: [PATCH] Fixed loadDatabase and backup services fatal error when
 database is read-only

---
 rtabmap_slam/src/CoreWrapper.cpp | 49 +++++++++++++++++++++-----------
 1 file changed, 33 insertions(+), 16 deletions(-)

diff --git a/rtabmap_slam/src/CoreWrapper.cpp b/rtabmap_slam/src/CoreWrapper.cpp
index 83009168..e2a5b1f8 100644
--- a/rtabmap_slam/src/CoreWrapper.cpp
+++ b/rtabmap_slam/src/CoreWrapper.cpp
@@ -908,8 +908,7 @@ CoreWrapper::~CoreWrapper()
 			saveDatabase = false;
 		}
 	}
-
-	rtabmap_.close();
+	rtabmap_.close(saveDatabase);
 	printf("rtabmap: Saving database/long-term memory...done! (located at %s, %ld MB)\n", databasePath_.c_str(), UFile::length(databasePath_)/(1024*1024));
 
 	delete interOdomSync_;
@@ -2970,18 +2969,27 @@ bool CoreWrapper::loadDatabaseCallback(rtabmap_msgs::LoadDatabase::Request& req,
 
 	// Close old database
 	NODELET_INFO("LoadDatabase: Saving current map (%s)...", databasePath_.c_str());
+	bool saveDatabase = true;
 	if(rtabmap_.getMemory())
 	{
-		// save the grid map
-		float xMin=0.0f, yMin=0.0f, gridCellSize = 0.05f;
-		cv::Mat pixels = mapsManager_.getGridMap(xMin, yMin, gridCellSize);
-		if(!pixels.empty())
+		if(!rtabmap_.getMemory()->isReadOnly())
 		{
-			printf("rtabmap: 2D occupancy grid map saved.\n");
-			rtabmap_.getMemory()->save2DMap(pixels, xMin, yMin, gridCellSize);
+			// save the grid map
+			float xMin=0.0f, yMin=0.0f, gridCellSize = 0.05f;
+			cv::Mat pixels = mapsManager_.getGridMap(xMin, yMin, gridCellSize);
+			if(!pixels.empty())
+			{
+				printf("rtabmap: 2D occupancy grid map saved.\n");
+				rtabmap_.getMemory()->save2DMap(pixels, xMin, yMin, gridCellSize);
+			}
+		}
+		else
+		{
+			printf("rtabmap: Database is read-only, the current state of the memory is not saved.\n");
+			saveDatabase = false;
 		}
 	}
-	rtabmap_.close();
+	rtabmap_.close(saveDatabase);
 	NODELET_INFO("LoadDatabase: Saving current map (%s, %ld MB)... done!", databasePath_.c_str(), UFile::length(databasePath_)/(1024*1024));
 
 	covariance_ = cv::Mat();
@@ -3113,18 +3121,27 @@ bool CoreWrapper::triggerNewMapCallback(std_srvs::Empty::Request&, std_srvs::Emp
 bool CoreWrapper::backupDatabaseCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
 {
 	NODELET_INFO("Backup: Saving memory...");
+	bool saveDatabase = true;
 	if(rtabmap_.getMemory())
 	{
-		// save the grid map
-		float xMin=0.0f, yMin=0.0f, gridCellSize = 0.05f;
-		cv::Mat pixels = mapsManager_.getGridMap(xMin, yMin, gridCellSize);
-		if(!pixels.empty())
+		if(!rtabmap_.getMemory()->isReadOnly())
 		{
-			printf("rtabmap: 2D occupancy grid map saved.\n");
-			rtabmap_.getMemory()->save2DMap(pixels, xMin, yMin, gridCellSize);
+			// save the grid map
+			float xMin=0.0f, yMin=0.0f, gridCellSize = 0.05f;
+			cv::Mat pixels = mapsManager_.getGridMap(xMin, yMin, gridCellSize);
+			if(!pixels.empty())
+			{
+				printf("rtabmap: 2D occupancy grid map saved.\n");
+				rtabmap_.getMemory()->save2DMap(pixels, xMin, yMin, gridCellSize);
+			}
+		}
+		else
+		{
+			printf("rtabmap: Database is read-only, the current state of the memory is not saved.\n");
+			saveDatabase = false;
 		}
 	}
-	rtabmap_.close();
+	rtabmap_.close(saveDatabase);
 	NODELET_INFO("Backup: Saving memory... done!");
 
 	covariance_ = cv::Mat();