Restore "QuickFix ros-visualization#1372: remove pending callbacks"

The release 0.6.6 of tf2 was reverted. The bug is still there.
rhaschke · May 3, 2020 · c3bf691 · c3bf691
1 parent f046707
commit c3bf691
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diff --git a/src/rviz/image/image_display_base.cpp b/src/rviz/image/image_display_base.cpp
@@ -136,7 +136,10 @@ void ImageDisplayBase::reset()
 {
   Display::reset();
   if (tf_filter_)
+  {
     tf_filter_->clear();
+    update_nh_.getCallbackQueue()->removeByID((uint64_t)tf_filter_.get());
+  }
 
   messages_received_ = 0;
   setStatus(StatusProperty::Warn, "Image", "No Image received");
@@ -212,6 +215,10 @@ 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();
 }

diff --git a/src/rviz/message_filter_display.h b/src/rviz/message_filter_display.h
@@ -118,6 +118,9 @@ class MessageFilterDisplay: public _RosTopicDisplay
     {
       Display::reset();
       tf_filter_->clear();
+      // 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_);
       messages_received_ = 0;
     }