From 9647cad423df8c50a1647aa2852e157c283a397a Mon Sep 17 00:00:00 2001
From: goes <GoesM@buaa.edu.cn>
Date: Wed, 5 Jun 2024 19:35:57 +0800
Subject: [PATCH] reset laser_scan_filter before reinit

Signed-off-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 764a8f059fc..398dca71745 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();