From f4b65b0e84242606bc75cb0dce861ceba219c8ff Mon Sep 17 00:00:00 2001
From: easylyou <38713965+easylyou@users.noreply.github.com>
Date: Tue, 7 Sep 2021 23:47:39 +0800
Subject: [PATCH] fix pf_ use-before-initial in laserReceived() callback
 (#2550)

Co-authored-by: Kai-Tao Xie <kaitaoxie@qq.com>
---
 nav2_amcl/src/amcl_node.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/nav2_amcl/src/amcl_node.cpp b/nav2_amcl/src/amcl_node.cpp
index 1f82e2c61b..17c8474ba7 100644
--- a/nav2_amcl/src/amcl_node.cpp
+++ b/nav2_amcl/src/amcl_node.cpp
@@ -234,12 +234,12 @@ AmclNode::on_configure(const rclcpp_lifecycle::State & /*state*/)
 
   initParameters();
   initTransforms();
+  initParticleFilter();
+  initLaserScan();
   initMessageFilters();
   initPubSub();
   initServices();
   initOdometry();
-  initParticleFilter();
-  initLaserScan();
 
   return nav2_util::CallbackReturn::SUCCESS;
 }