diff --git a/src/publisher_laser_map.cpp b/src/publisher_laser_map.cpp
index e1bb8019fae198e6739ce5a82e865303ec9aa1a3..39f140d78b059da289cc0efb831677b9079acd69 100644
--- a/src/publisher_laser_map.cpp
+++ b/src/publisher_laser_map.cpp
@@ -135,8 +135,7 @@ void PublisherLaserMap::updateTrajectory()
     scans_.clear();
 
     // copy new trajectory poses and scans
-    auto frame_map = problem_->getTrajectory()->getFrameMap(); // copy for thread-safe
-    for (auto frame_pair : frame_map)
+    for (auto frame_pair : problem_->getTrajectory()->getFrameMap())
     {
         if (frame_pair.second->isRemoving())
             continue;