Add guard for georeference (#2403)

usdot-fhwa-stol · Jun 14, 2024 · 9913963 · 9913963
1 parent 2fee8dc
commit 9913963
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Showing 2 changed files with 7 additions and 2 deletions.
diff --git a/bsm_generator/include/bsm_generator/bsm_generator_node.hpp b/bsm_generator/include/bsm_generator/bsm_generator_node.hpp
@@ -71,7 +71,8 @@ namespace bsm_generator
 
  // The BSM object that all subscribers make updates to
  carma_v2x_msgs::msg::BSM bsm_;
-
+
+ std::string georeference_ {""};
  std::shared_ptr<lanelet::projection::LocalFrameProjector> map_projector_;
 
  std::vector<uint8_t> bsm_message_id_;

diff --git a/bsm_generator/src/bsm_generator_node.cpp b/bsm_generator/src/bsm_generator_node.cpp
@@ -127,7 +127,11 @@ namespace bsm_generator
  void BSMGenerator::georeferenceCallback(const std_msgs::msg::String::UniquePtr msg)
  {
  // Build projector from proj string
- map_projector_ = std::make_shared<lanelet::projection::LocalFrameProjector>(msg->data.c_str());
+ if (georeference_ != msg->data)
+ {
+ georeference_ = msg->data;
+ map_projector_ = std::make_shared<lanelet::projection::LocalFrameProjector>(msg->data.c_str());
+ }
  }
 
  void BSMGenerator::speedCallback(const geometry_msgs::msg::TwistStamped::UniquePtr msg)