disable map saver in localization mode as unnecessary and increases m…

…emory
SteveMacenski · Sep 23, 2019 · 8cc2ab2 · 8cc2ab2
1 parent bf05617
commit 8cc2ab2
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Showing 2 changed files with 4 additions and 1 deletion.
diff --git a/solvers/ceres_solver.cpp b/solvers/ceres_solver.cpp
@@ -402,7 +402,7 @@ void CeresSolver::ModifyNode(const int& unique_id, Eigen::Vector3d pose)
   {
     double yaw_init = it->second(2);
     it->second = pose;
-    it->second(2)+= yaw_init;
+    it->second(2) += yaw_init;
   }
 }
 

diff --git a/src/slam_toolbox_localization.cpp b/src/slam_toolbox_localization.cpp
@@ -52,6 +52,9 @@ LocalizationSlamToolbox::LocalizationSlamToolbox(ros::NodeHandle& nh)
 
   // in localization mode, we cannot allow for interactive mode
   enable_interactive_mode_ = false;
+
+  // in localization mode, disable map saver
+  map_saver_.reset();
   return;
 }