[RSDK-5601] Add sensor validation when using cloudslam (#295)

viam-modules · Nov 20, 2023 · 7f5dbb5 · 7f5dbb5
1 parent 0fde277
commit 7f5dbb5
Showing 1 changed file with 9 additions and 8 deletions.
diff --git a/viam_cartographer.go b/viam_cartographer.go
@@ -170,14 +170,6 @@ func New(
 		return nil, err
 	}
 
-	if svcConfig.UseCloudSlam != nil && *svcConfig.UseCloudSlam {
-		return &CartographerService{
-			Named:        c.ResourceName().AsNamed(),
-			useCloudSlam: true,
-			logger:       logger,
-		}, nil
-	}
-
 	subAlgo := SubAlgo(svcConfig.ConfigParams["mode"])
 	if subAlgo != Dim2d {
 		return nil, errors.Errorf("%v does not have a 'mode: %v'",
@@ -297,6 +289,15 @@ func New(
 		}
 	}
 
+	// do not initialize CartoFacade or Sensor Processes when using cloudslam
+	if svcConfig.UseCloudSlam != nil && *svcConfig.UseCloudSlam {
+		return &CartographerService{
+			Named:        c.ResourceName().AsNamed(),
+			useCloudSlam: true,
+			logger:       logger,
+		}, nil
+	}
+
 	err = initCartoFacade(cancelCartoFacadeCtx, cartoSvc)
 	if err != nil {
 		return nil, err