From c8cb956dc695b0b9f0dd9bd0000d3b42d7ee03b7 Mon Sep 17 00:00:00 2001
From: Steve Macenski <stevenmacenski@gmail.com>
Date: Fri, 4 Aug 2023 11:09:24 -0700
Subject: [PATCH] Iron sync 2.7.1 August 4 (#627)

* In addScan, fix if-condition for processor_type (#610)

Co-authored-by: patrick.christoph.sowinski <patrick.christoph.sowinski@continental-corporation.com>

* exclude lifelong launch file (#624)

* bumping iron for release 2.7.1

---------

Co-authored-by: Patrick Sowinski <patricksowinski@gmx.de>
Co-authored-by: patrick.christoph.sowinski <patrick.christoph.sowinski@continental-corporation.com>
---
 CMakeLists.txt                    | 1 +
 package.xml                       | 2 +-
 src/slam_toolbox_localization.cpp | 2 +-
 3 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index a84205e5..6f9dbfc1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -212,6 +212,7 @@ install(DIRECTORY include/
 
 install(DIRECTORY launch
   DESTINATION share/${PROJECT_NAME}
+  PATTERN "lifelong_launch.py" EXCLUDE
 )
 
 install(DIRECTORY config
diff --git a/package.xml b/package.xml
index dc5a182a..de6dc60c 100644
--- a/package.xml
+++ b/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>slam_toolbox</name>
-  <version>2.7.0</version>
+  <version>2.7.1</version>
   <description>
      This package provides a sped up improved slam karto with updated SDK and visualization and modification toolsets
   </description>
diff --git a/src/slam_toolbox_localization.cpp b/src/slam_toolbox_localization.cpp
index d6b44d09..ac20fc22 100644
--- a/src/slam_toolbox_localization.cpp
+++ b/src/slam_toolbox_localization.cpp
@@ -150,7 +150,7 @@ LocalizedRangeScan * LocalizationSlamToolbox::addScan(
 {
   boost::mutex::scoped_lock l(pose_mutex_);
 
-  if (PROCESS_LOCALIZATION && process_near_pose_) {
+  if (processor_type_ == PROCESS_LOCALIZATION && process_near_pose_) {
     processor_type_ = PROCESS_NEAR_REGION;
   }