From 8aa4a9d4b8dc9380a9b4f2b33fb555238c819567 Mon Sep 17 00:00:00 2001
From: Carl Delsey <carl.r.delsey@intel.com>
Date: Wed, 24 Oct 2018 08:18:44 -0700
Subject: [PATCH] Do not let shared ptr delete transform buffer
The transform buffer lifetime is part of the dwb controller. It
can't be managed by shared_ptr.
---
nav2_controller/nav2_controller_dwb/src/dwb_controller.cpp | 4 +++-
1 file changed, 3 insertions(+), 1 deletion(-)
diff --git a/nav2_controller/nav2_controller_dwb/src/dwb_controller.cpp b/nav2_controller/nav2_controller_dwb/src/dwb_controller.cpp
index 405a4bce..d47db8a0 100644
--- a/nav2_controller/nav2_controller_dwb/src/dwb_controller.cpp
+++ b/nav2_controller/nav2_controller_dwb/src/dwb_controller.cpp
@@ -25,6 +25,8 @@ using nav2_tasks::TaskStatus;
using dwb_core::DWBLocalPlanner;
using dwb_core::CostmapROSPtr;
+#define NO_OP_DELETER [](auto){}
+
namespace nav2_controller_dwb
{
@@ -49,7 +51,7 @@ DwbController::execute(const nav2_tasks::FollowPathCommand::SharedPtr command)
try {
auto path = nav_2d_utils::pathToPath2D(*command);
auto nh = shared_from_this();
- planner_.initialize(nh, shared_ptr<tf2_ros::Buffer>(&tfBuffer_), cm_);
+ planner_.initialize(nh, shared_ptr<tf2_ros::Buffer>(&tfBuffer_, NO_OP_DELETER), cm_);
planner_.setPlan(path);
RCLCPP_INFO(get_logger(), "Initialized");
while (true) {
--
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