From 93ac44b26babb298046694efe78f8f986f7219e9 Mon Sep 17 00:00:00 2001
From: Stefan Fabian <github@stefanfabian.me>
Date: Thu, 25 May 2023 14:41:08 +0200
Subject: [PATCH] MapDisplay: Fix crash after map update (#1793)

---
 src/rviz/default_plugin/map_display.cpp | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/src/rviz/default_plugin/map_display.cpp b/src/rviz/default_plugin/map_display.cpp
index 3d0841ad91..a7802e4861 100644
--- a/src/rviz/default_plugin/map_display.cpp
+++ b/src/rviz/default_plugin/map_display.cpp
@@ -221,7 +221,10 @@ void Swatch::updateData()
 
 MapDisplay::MapDisplay() : Display(), loaded_(false), resolution_(0.0f), width_(0), height_(0)
 {
-  connect(this, SIGNAL(mapUpdated()), this, SLOT(showMap()));
+  // HACK: Using a direct connection triggers a segfault on NVIDIA hardware (#1793) when rendering
+  //       *and* having performed a depth rendering before (e.g. due to raycasting for selections)
+  // A queued connection delays the update of renderables after the current VisualizationManager::onUpdate() call
+  connect(this, SIGNAL(mapUpdated()), this, SLOT(showMap()), Qt::QueuedConnection);
   topic_property_ = new RosTopicProperty(
       "Topic", "", QString::fromStdString(ros::message_traits::datatype<nav_msgs::OccupancyGrid>()),
       "nav_msgs::OccupancyGrid topic to subscribe to.", this, SLOT(updateTopic()));