use shared_from_this to avoid crash on shutdown

naturerobots · Apr 1, 2020 · 73fceed · 73fceed
1 parent a784ac6
commit 73fceed
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Showing 2 changed files with 4 additions and 2 deletions.
diff --git a/mbf_costmap_nav/include/mbf_costmap_nav/costmap_wrapper.h b/mbf_costmap_nav/include/mbf_costmap_nav/costmap_wrapper.h
@@ -45,6 +45,8 @@
 
 #include <mbf_utility/types.h>
 
+#include <boost/enable_shared_from_this.hpp>
+
 
 namespace mbf_costmap_nav
 {
@@ -60,7 +62,7 @@ namespace mbf_costmap_nav
  *
  * @ingroup navigation_server move_base_server
  */
-class CostmapWrapper : public costmap_2d::Costmap2DROS
+class CostmapWrapper : public costmap_2d::Costmap2DROS, public boost::enable_shared_from_this<CostmapWrapper>
 {
 public:
   typedef boost::shared_ptr<CostmapWrapper> Ptr;

diff --git a/mbf_costmap_nav/src/mbf_costmap_nav/costmap_wrapper.cpp b/mbf_costmap_nav/src/mbf_costmap_nav/costmap_wrapper.cpp
@@ -120,7 +120,7 @@ void CostmapWrapper::checkDeactivate()
     // navigation sequence, what is terribly inefficient; the timer is stopped on costmap re-activation and
     // reset after every new call to deactivate
     shutdown_costmap_timer_ =
-      private_nh_.createTimer(shutdown_costmap_delay_, &CostmapWrapper::deactivate, this, true);
+      private_nh_.createTimer(shutdown_costmap_delay_, &CostmapWrapper::deactivate, shared_from_this(), true);
   }
 }