From 5ab445b27ed23d8c96a40ea9dffb42d649e80eb8 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Tue, 13 Aug 2019 18:59:20 +0200
Subject: [PATCH] QuickFix #1372: remove pending callbacks

---
 src/rviz/image/image_display_base.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/rviz/image/image_display_base.cpp b/src/rviz/image/image_display_base.cpp
index dcc211f5a8..a021465655 100644
--- a/src/rviz/image/image_display_base.cpp
+++ b/src/rviz/image/image_display_base.cpp
@@ -203,6 +203,10 @@ void ImageDisplayBase::subscribe()
 
 void ImageDisplayBase::unsubscribe()
 {
+  // Quick fix for #1372. Can be removed if https://github.com/ros/geometry2/pull/402 is released
+  if (tf_filter_)
+    update_nh_.getCallbackQueue()->removeByID((uint64_t)tf_filter_.get());
+
   tf_filter_.reset();
   sub_.reset();
 }