Fix #440, correctly delete old grid

RobotWebTools · Sep 28, 2021 · d36de81 · d36de81
1 parent d432ff1
commit d36de81
Showing 1 changed file with 5 additions and 3 deletions.
diff --git a/src/navigation/OccupancyGridClient.js b/src/navigation/OccupancyGridClient.js
@@ -69,11 +69,13 @@ ROS3D.OccupancyGridClient.prototype.processMessage = function(message){
   // check for an old map
   if (this.currentGrid) {
     // check if it there is a tf client
-    if (this.currentGrid.tfClient) {
+    if (this.tfClient) {
       // grid is of type ROS3D.SceneNode
-      this.currentGrid.unsubscribeTf();
+      this.sceneNode.unsubscribeTf();
+      this.sceneNode.remove(this.currentGrid);
+    } else {
+      this.rootObject.remove(this.currentGrid);
     }
-    this.sceneNode.remove(this.currentGrid);
     this.currentGrid.dispose();
   }