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Resolve thread cleanup crash in composable nodes with intra-process comms #161

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Resolve thread cleanup crash in composable nodes with intra-process comms #161

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14 changes: 11 additions & 3 deletions orbbec_camera/src/ob_camera_node_driver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -258,16 +258,24 @@ void OBCameraNodeDriver::init() {
check_connect_timer_ =
this->create_wall_timer(std::chrono::milliseconds(1000), [this]() { checkConnectTimer(); });
CHECK_NOTNULL(check_connect_timer_);
query_thread_ = std::make_shared<std::thread>([this]() { queryDevice(); });
reset_device_thread_ = std::make_shared<std::thread>([this]() { resetDevice(); });


device_status_timer_ =
this->create_wall_timer(std::chrono::milliseconds(1000 / device_status_interval_hz),
[this]() { deviceStatusTimer(); });

// transient_local durability is incompatible with intra-process comms, use volatile
auto qos = rclcpp::QoS(1);
if (!node_options_.use_intra_process_comms()) {
qos = qos.transient_local();
}
// Initialize device status publisher
device_status_pub_ = this->create_publisher<orbbec_camera_msgs::msg::DeviceStatus>(
"device_status", rclcpp::QoS(1).transient_local());
"device_status", qos);

// Create threads LAST to ensure proper cleanup if ROS operations throw exceptions
query_thread_ = std::make_shared<std::thread>([this]() { queryDevice(); });
reset_device_thread_ = std::make_shared<std::thread>([this]() { resetDevice(); });
}

void OBCameraNodeDriver::onDeviceConnected(const std::shared_ptr<ob::DeviceList> &device_list) {
Expand Down