set first_map_received to false when cleaning up

nav2_amcl/include/nav2_amcl/amcl_node.hpp

@@ -86,7 +86,7 @@ protected:
   map_t * map_{nullptr};
   map_t * convertMap(const nav_msgs::msg::OccupancyGrid & map_msg);
   bool first_map_only_{true};
-  bool first_map_received_{false};
+  std::atomic<bool> first_map_received_{false};
   amcl_hyp_t * initial_pose_hyp_;
   std::recursive_mutex configuration_mutex_;
   rclcpp::Subscription<nav_msgs::msg::OccupancyGrid>::ConstSharedPtr map_sub_;

nav2_amcl/src/amcl_node.cpp

@@ -285,6 +285,7 @@ AmclNode::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
   // Map
   map_free(map_);
   map_ = nullptr;
+  first_map_received_ = false;
   free_space_indices.resize(0);
 
   // Transforms