map manager crash

homer_map_manager/src/Managers/MaskingManager.cpp

@@ -65,8 +65,23 @@ nav_msgs::OccupancyGrid::ConstPtr MaskingManager::modifyMap(
 }
 
 nav_msgs::OccupancyGrid::ConstPtr MaskingManager::resetMap() {
+
+
+    m_MaskingMap.info.width = 1;
+    m_MaskingMap.info.height = 1;
+    m_MaskingMap.info.resolution = 1;
+    m_MaskingMap.info.origin.position.x = 0;
+    m_MaskingMap.info.origin.position.y = 0;
+    m_MaskingMap.data.resize(m_MaskingMap.info.width *
+                             m_MaskingMap.info.height);
     std::fill(m_MaskingMap.data.begin(), m_MaskingMap.data.end(),
               homer_mapnav_msgs::ModifyMap::NOT_MASKED);
+
+    m_SlamMap.info = m_MaskingMap.info;
+    m_SlamMap.data.resize(m_SlamMap.info.width * m_SlamMap.info.height);
+    std::fill(m_SlamMap.data.begin(), m_SlamMap.data.end(),
+              homer_mapnav_msgs::ModifyMap::NOT_MASKED);
+
     nav_msgs::OccupancyGrid::ConstPtr ret =
         boost::make_shared<const ::nav_msgs::OccupancyGrid>(m_MaskingMap);
     return ret;

homer_map_manager/src/map_manager_node.cpp

@@ -4,10 +4,8 @@
 MapManagerNode::MapManagerNode(ros::NodeHandle* nh) {
     m_LastLaserTime = ros::Time::now();
 
-    int mapSize;
-    float resolution;
-    ros::param::param("/homer_mapping/size", mapSize, (int)35);
-    ros::param::param("/homer_mapping/resolution", resolution, (float)0.05);
+    int mapSize = 1;
+    float resolution = 1;
     ros::param::param("/map_manager/roi_updates", m_roi_polling, (bool)false);
     ros::param::param("/map_manager/roi_polling_time", m_roi_polling_time,
                       (float)0.5);