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Fixed crash when raycasting while map is updated #1034

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Fixed crash when raycasting while map is updated #1034

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6 changes: 5 additions & 1 deletion rviz_default_plugins/src/rviz_default_plugins/displays/map/map_display.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -72,7 +72,11 @@ MapDisplay::MapDisplay()
update_profile_(rclcpp::QoS(5)),
update_messages_received_(0)
{
connect(this, SIGNAL(mapUpdated()), this, SLOT(showMap()));
// 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, SIGNAL(mapUpdated()), this, SLOT(showMap()), Qt::QueuedConnection);

update_topic_property_ = new rviz_common::properties::RosTopicProperty(
"Update Topic", "",
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