From 95b6d9eaa0ea9eb3b45acb9a137e2013f363b04c Mon Sep 17 00:00:00 2001
From: Ryan Soussan <ryan.soussan@gmail.com>
Date: Tue, 9 Jul 2024 11:20:40 -0700
Subject: [PATCH] added missing read params after revert from map switch

---
 localization/localization_node/src/localization_nodelet.cc | 1 +
 1 file changed, 1 insertion(+)

diff --git a/localization/localization_node/src/localization_nodelet.cc b/localization/localization_node/src/localization_nodelet.cc
index 72a4444d38..5363bafadb 100644
--- a/localization/localization_node/src/localization_nodelet.cc
+++ b/localization/localization_node/src/localization_nodelet.cc
@@ -74,6 +74,7 @@ bool LocalizationNodelet::ResetMap(const std::string& map_file) {
       map_.reset();
       map_ = std::make_shared<sparse_mapping::SparseMap>(last_valid_map_file_, true);
       inst_.reset(new Localizer(map_.get()));
+      ReadParams();
       enabled_ = true;
     } else {
       ROS_ERROR_STREAM("No last valid map, please reset with a valid map. Not localizing.");