From 3575ac11cdae76aba0b678bad6930e74b9316630 Mon Sep 17 00:00:00 2001
From: Toshiki Nakamura <82020865+ToshikiNakamura0412@users.noreply.github.com>
Date: Sun, 28 Jul 2024 22:15:25 +0900
Subject: [PATCH] Fix bug related to count reset (#29)

---
 src/virtual_road_projector.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/src/virtual_road_projector.cpp b/src/virtual_road_projector.cpp
index 09ee2f2..2f3621b 100644
--- a/src/virtual_road_projector.cpp
+++ b/src/virtual_road_projector.cpp
@@ -29,7 +29,10 @@ void VirtualRoadProjector::map_callback(const nav_msgs::OccupancyGridConstPtr &m
   if (!road_updated_)
     count_of_not_received_road_++;
   if (param_.allowable_num_of_not_received < count_of_not_received_road_)
+  {
     road_.reset();
+    count_of_not_received_road_ = 0;
+  }
 
   if (!road_.has_value())
     map_pub_.publish(*msg);