Description of contribution in a few bullet points
This fix is for localization mode, to make the Cerer solver work normally after removing nodes. This issue has been described in detail in #398.
This also fixes the crash issue when calling the /initialpose 2 times continuously #419. Because parameters have not been added to the problem when we clear the localization buffer at the second call. So an existence check before removing should fix this issue.
Description of documentation updates required from your changes
Basic Info
Description of contribution in a few bullet points
Description of documentation updates required from your changes
No documentation change is needed
Future work that may be required in bullet points
No future work required