diff --git a/src/rviz/default_plugin/map_display.cpp b/src/rviz/default_plugin/map_display.cpp
index 2a61069ad..8a8b6a349 100644
--- a/src/rviz/default_plugin/map_display.cpp
+++ b/src/rviz/default_plugin/map_display.cpp
@@ -219,12 +219,9 @@ void Swatch::updateData()
 }
 
 
-MapDisplay::MapDisplay() : Display(), loaded_(false), resolution_(0.0f), width_(0), height_(0)
+MapDisplay::MapDisplay()
+  : Display(), loaded_(false), map_updated_(false), resolution_(0.0f), width_(0), height_(0)
 {
-  // HACK: Using a direct connection triggers a segfault on NVIDIA hardware (#1793) when rendering
-  //       *and* having performed a depth rendering before (e.g. due to raycasting for selections)
-  // A queued connection delays the update of renderables after the current VisualizationManager::onUpdate() call
-  connect(this, &MapDisplay::mapUpdated, this, &MapDisplay::showMap, Qt::QueuedConnection);
   topic_property_ = new RosTopicProperty(
       "Topic", "", QString::fromStdString(ros::message_traits::datatype<nav_msgs::OccupancyGrid>()),
       "nav_msgs::OccupancyGrid topic to subscribe to.", this, &MapDisplay::updateTopic);
@@ -548,6 +545,7 @@ void MapDisplay::clear()
   }
 
   loaded_ = false;
+  map_updated_ = false;
 }
 
 bool validateFloats(const nav_msgs::OccupancyGrid& msg)
@@ -561,9 +559,8 @@ bool validateFloats(const nav_msgs::OccupancyGrid& msg)
 void MapDisplay::incomingMap(const nav_msgs::OccupancyGrid::ConstPtr& msg)
 {
   current_map_ = *msg;
-  // updated via signal in case ros spinner is in a different thread
-  Q_EMIT mapUpdated();
   loaded_ = true;
+  map_updated_ = true;
 }
 
 
@@ -589,8 +586,7 @@ void MapDisplay::incomingUpdate(const map_msgs::OccupancyGridUpdate::ConstPtr& u
     memcpy(&current_map_.data[(update->y + y) * current_map_.info.width + update->x],
            &update->data[y * update->width], update->width);
   }
-  // updated via signal in case ros spinner is in a different thread
-  Q_EMIT mapUpdated();
+  map_updated_ = true;
 }
 
 void MapDisplay::createSwatches()
@@ -653,7 +649,7 @@ void MapDisplay::createSwatches()
   }
 }
 
-void MapDisplay::showMap()
+void MapDisplay::updateMap()
 {
   if (current_map_.data.empty())
   {
@@ -758,9 +754,7 @@ void MapDisplay::showMap()
   position_property_->setVector(position);
   orientation_property_->setQuaternion(orientation);
 
-  transformMap();
-
-  context_->queueRender();
+  map_updated_ = false;
 }
 
 void MapDisplay::updatePalette()
@@ -843,6 +837,8 @@ void MapDisplay::setTopic(const QString& topic, const QString& /*datatype*/)
 
 void MapDisplay::update(float /*wall_dt*/, float /*ros_dt*/)
 {
+  if (map_updated_)
+    updateMap();
   transformMap();
 }
 
diff --git a/src/rviz/default_plugin/map_display.h b/src/rviz/default_plugin/map_display.h
index b201bed1d..b73a15f16 100644
--- a/src/rviz/default_plugin/map_display.h
+++ b/src/rviz/default_plugin/map_display.h
@@ -122,17 +122,12 @@ class MapDisplay : public Display
 
   void setTopic(const QString& topic, const QString& datatype) override;
 
-Q_SIGNALS:
-  /** @brief Emitted when a new map is received*/
-  void mapUpdated();
-
 protected Q_SLOTS:
   void updateAlpha();
   void updateTopic();
   void updateDrawUnder();
   void updatePalette();
-  /** @brief Show current_map_ in the scene. */
-  void showMap();
+  void updateMap();
   void transformMap();
 
 protected:
@@ -144,10 +139,10 @@ protected Q_SLOTS:
   virtual void unsubscribe();
   void update(float wall_dt, float ros_dt) override;
 
-  /** @brief Copy msg into current_map_ and call showMap(). */
+  /** @brief Copy msg into current_map_ and set flag map_updated_ */
   void incomingMap(const nav_msgs::OccupancyGrid::ConstPtr& msg);
 
-  /** @brief Copy update's data into current_map_ and call showMap(). */
+  /** @brief Copy update's data into current_map_ and set flag map_updated_ */
   void incomingUpdate(const map_msgs::OccupancyGridUpdate::ConstPtr& update);
 
   void clear();
@@ -158,6 +153,7 @@ protected Q_SLOTS:
   std::vector<Ogre::TexturePtr> palette_textures_;
   std::vector<bool> color_scheme_transparency_;
   bool loaded_;
+  bool map_updated_;
 
   std::string topic_;
   float resolution_;