From 773408f96eac1633770e61c562df478f73ac8e9f Mon Sep 17 00:00:00 2001
From: GoesM <130988564+GoesM@users.noreply.github.com>
Date: Thu, 6 Jun 2024 00:47:18 +0800
Subject: [PATCH] reset laser_scan_filter before reinit (#4397)

Signed-off-by: goes <GoesM@buaa.edu.cn>
Co-authored-by: goes <GoesM@buaa.edu.cn>
---
 nav2_amcl/src/amcl_node.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/nav2_amcl/src/amcl_node.cpp b/nav2_amcl/src/amcl_node.cpp
index 764a8f059f..398dca7174 100644
--- a/nav2_amcl/src/amcl_node.cpp
+++ b/nav2_amcl/src/amcl_node.cpp
@@ -1367,6 +1367,7 @@ AmclNode::dynamicParametersCallback(
     lasers_update_.clear();
     frame_to_laser_.clear();
     laser_scan_connection_.disconnect();
+    laser_scan_filter_.reset();
     laser_scan_sub_.reset();
 
     initMessageFilters();