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shutdown services in destructor of ClearCostmapService #4495

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merged 1 commit into from
Jun 26, 2024
Merged

shutdown services in destructor of ClearCostmapService #4495

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5 changes: 5 additions & 0 deletions nav2_costmap_2d/include/nav2_costmap_2d/clear_costmap_service.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -48,6 +48,11 @@ class ClearCostmapService
*/
ClearCostmapService() = delete;

/**
* @brief A destructor
*/
~ClearCostmapService();

/**
* @brief Clears the region outside of a user-specified area reverting to the static map
*/
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8 changes: 8 additions & 0 deletions nav2_costmap_2d/src/clear_costmap_service.cpp
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Expand Up @@ -59,6 +59,14 @@ ClearCostmapService::ClearCostmapService(
std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
}

ClearCostmapService::~ClearCostmapService()
{
// make sure services shutdown.
clear_except_service_.reset();
clear_around_service_.reset();
clear_entire_service_.reset();
}

void ClearCostmapService::clearExceptRegionCallback(
const shared_ptr<rmw_request_id_t>/*request_header*/,
const shared_ptr<ClearExceptRegion::Request> request,
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