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use shared_from_this to avoid crash on shutdown #179

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merged 5 commits into from
Apr 7, 2020
Merged

use shared_from_this to avoid crash on shutdown #179

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c6f04dd
explicitly destruct global root class
Apr 3, 2020
7114181
call ros::Timer::stop in the destructor
Apr 3, 2020
1930a1c
fix commend wording
Apr 7, 2020
db7f10d
Update move_base_server_node.cpp
corot Apr 7, 2020
4d34e79
Update move_base_server_node.cpp
corot Apr 7, 2020
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1 change: 1 addition & 0 deletions mbf_costmap_nav/src/mbf_costmap_nav/costmap_wrapper.cpp
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Expand Up @@ -64,6 +64,7 @@ CostmapWrapper::CostmapWrapper(const std::string &name, const TFPtr &tf_listener

CostmapWrapper::~CostmapWrapper()
{
shutdown_costmap_timer_.stop();
}


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4 changes: 4 additions & 0 deletions mbf_costmap_nav/src/move_base_server_node.cpp
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Expand Up @@ -75,5 +75,9 @@ int main(int argc, char **argv)
#endif
costmap_nav_srv_ptr = boost::make_shared<mbf_costmap_nav::CostmapNavigationServer>(tf_listener_ptr);
ros::spin();

// explicitly desctructor here, otherwise this class will be destructed
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// after tearing down internally allocaled static variables
costmap_nav_srv_ptr.reset();
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return EXIT_SUCCESS;
}