Don't allow a running instance to be started. Instance must be stoppe…

…d first.
locusrobotics · Jul 30, 2024 · 7a52098 · 7a52098
1 parent 2c709db
commit 7a52098
Showing 1 changed file with 6 additions and 0 deletions.
diff --git a/fuse_optimizers/src/fixed_lag_smoother.cpp b/fuse_optimizers/src/fixed_lag_smoother.cpp
@@ -458,6 +458,12 @@ bool FixedLagSmoother::startServiceCallback(std_srvs::Empty::Request&, std_srvs:
 
 void FixedLagSmoother::start()
 {
+  if (started_)
+  {
+    ROS_WARN_STREAM("Requested to start the optimizer while it is already running. Ignoring request.");
+    return;
+  }
+
   ROS_INFO_STREAM("Starting optimizer.");
   // Tell all the plugins to start
   startPlugins();