cartographer: fixes for reconnect

source/RobotComponents/libraries/SelfLocalization/SelfLocalization.cpp

@@ -485,13 +485,6 @@ namespace armarx
             getProxy(localizationUnitPrx, properties.localizationUnitName);
         }
 
-        if (onConnectCalled) // reconnecting
-        {
-            onReconnectComponent();
-            return;
-        }
-
-
         ARMARX_INFO << "connecting ...";
         global_T_map = worldToMapTransform();
 
@@ -524,23 +517,6 @@ namespace armarx
         (void) globalPoseFromLongTermMemory();
 
         connected.store(true);
-        onConnectCalled = true;
-        ARMARX_INFO << "... done.";
-    }
-
-    void SelfLocalization::onReconnectComponent()
-    {
-        ARMARX_TRACE;
-
-        ARMARX_INFO << "SelfLocalization::onReconnectComponent";
-        setupArMem();
-
-        // legacy
-        setupWorkingMemory();
-        setupLongTermMemory();
-
-        connected.store(true);
-
         ARMARX_INFO << "... done.";
     }