Fix bug

Local Mapping got stucked at System::Shutdown() if it was already stopped (e.g. if Localization Mode is active)
SMalpica · Jan 25, 2016 · aac9b96 · aac9b96
1 parent 0b86438
commit aac9b96
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/src/LocalMapping.cc b/src/LocalMapping.cc
@@ -89,10 +89,12 @@ void LocalMapping::Run()
         else if(Stop())
         {
             // Safe area to stop
-            while(isStopped())
+            while(isStopped() && !CheckFinish())
             {
                 usleep(3000);
             }
+            if(CheckFinish())
+                break;
         }
 
         ResetIfRequested();