slam_toolbox_async_node is now pausable (#748)

SteveMacenski · Jan 21, 2025 · bf1da76 · bf1da76
1 parent af60e7f
commit bf1da76
Showing 1 changed file with 4 additions and 1 deletion.
diff --git a/src/slam_toolbox_async.cpp b/src/slam_toolbox_async.cpp
@@ -53,7 +53,10 @@ void AsynchronousSlamToolbox::laserCallback(
     return;
   }
 
-  addScan(laser, scan, pose);
+  // if not paused, process scan
+  if (shouldProcessScan(scan, pose)) {
+    addScan(laser, scan, pose);
+  }
 }
 
 /*****************************************************************************/