Proposed fix for Issue IntelRealSense#19 (double free)

icarpis · Feb 27, 2017 · 5338a11 · 5338a11
1 parent 0051a35
commit 5338a11
Showing 1 changed file with 9 additions and 0 deletions.
diff --git a/realsense_ros_camera/src/camera_node.cpp b/realsense_ros_camera/src/camera_node.cpp
@@ -148,6 +148,15 @@ namespace realsense_ros_camera
                     device->stop();
             }      
             ctx.reset();
+
+            const rs::stream All[] = { rs::stream::depth, rs::stream::color, rs::stream::fisheye };
+            for ( const auto stream : All )
+            {
+                if( false == enable_[stream])
+                    continue;
+                image_publishers_[stream].shutdown();
+            }
+            image_publishers_.clear();
         }
 
     private: