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[nav2_planner] Fix costmap thread reset on cleanup #3548

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Merged
SteveMacenski merged 3 commits into from
May 2, 2023
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[nav2_planner] Fix costmap thread reset on cleanup #3548

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d00a3b6
remove costmap thread reset on cleanup
BriceRenaudeau Apr 28, 2023
87cb174
Init costmap thread in on_configure method
BriceRenaudeau May 2, 2023
229ed78
Move costmap_thread init in on_configure method
BriceRenaudeau May 2, 2023
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1 change: 0 additions & 1 deletion nav2_planner/src/planner_server.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -252,7 +252,6 @@ PlannerServer::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
}

planners_.clear();
costmap_thread_.reset();
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@SteveMacenski SteveMacenski Apr 28, 2023

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I think its a better move to move the node thread creation into the configure function. Deleting the memory in the cleanup stage is the purpose of the stage so this is technically correct. I don't see any reason (do you?) why we couldn't create the thread in configure instead? That seems like it should work just as well

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@BriceRenaudeau BriceRenaudeau May 2, 2023

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Ok, I tested it, and It works the same way.

costmap_ = nullptr;
return nav2_util::CallbackReturn::SUCCESS;
}
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