[RSDK-2560] Don't update map in localization mode (#52)

viam-modules · Apr 19, 2023 · 82c6dd7 · 82c6dd7
1 parent 65b80c4
commit 82c6dd7
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/viam-cartographer/src/slam_service/slam_service.cc b/viam-cartographer/src/slam_service/slam_service.cc
@@ -107,7 +107,8 @@ ::grpc::Status SLAMServiceImpl::GetPointCloudMap(
     try {
         std::shared_lock optimization_lock{optimization_shared_mutex,
                                            std::defer_lock};
-        if (optimization_lock.try_lock()) {
+        if (action_mode != ActionMode::LOCALIZING &&
+            optimization_lock.try_lock()) {
             // We are able to lock the optimization_shared_mutex, which means
             // that the optimization is not ongoing and we can grab the newest
             // map