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Fixed "Program dies when use_pixel is used #78" #79

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Fixed "Program dies when use_pixel is used #78" #79

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6 changes: 4 additions & 2 deletions range_sensor_layer/src/range_sensor_layer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -368,12 +368,14 @@ void RangeSensorLayer::removeOutdatedReadings()
std::map<std::pair<unsigned int, unsigned int>, double>::iterator it_map;

double removal_time = last_reading_time_.toSec() - pixel_decay_;
for (it_map = marked_point_history_.begin() ; it_map != marked_point_history_.end() ; it_map++ )
for (it_map = marked_point_history_.begin() ; it_map != marked_point_history_.end() ;)
{
if (it_map->second < removal_time)
{
marked_point_history_.erase(it_map);
marked_point_history_.erase(it_map++);
setCost(std::get<0>(it_map->first), std::get<1>(it_map->first), costmap_2d::FREE_SPACE);
} else {
it_map++;
}
}
}
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