From f1df2707c717c14ca54aece7f79f1007098ed40d Mon Sep 17 00:00:00 2001
From: Guillaume Doisy <guillaume@dexory.com>
Date: Thu, 17 Jul 2025 22:24:37 +0100
Subject: [PATCH] Overcome 16384 size limit

---
 .../src/rviz_default_plugins/displays/map/map_display.cpp   | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/map/map_display.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/map/map_display.cpp
index ad1a553f7..981091838 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/displays/map/map_display.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/displays/map/map_display.cpp
@@ -429,6 +429,12 @@ void MapDisplay::createSwatches()
         width << " x " << height << " using " << number_swatches << " swatches");
     swatches_.clear();
     try {
+      // OpenGL size limit is 16384x16384
+      // TODO(Guillaume): find a cleaner way and autodetect size limit
+      if (swatch_width > 16384 || swatch_height > 16384) {
+        doubleSwatchNumber(swatch_width, swatch_height, number_swatches);
+        continue;
+      }
       tryCreateSwatches(width, height, resolution, swatch_width, swatch_height, number_swatches);
       updateDrawUnder();
       return;