c++ action and node fixed

uleroboticsgroup · Apr 17, 2024 · e6d9bb2 · e6d9bb2
1 parent 69fc142
commit e6d9bb2
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Showing 3 changed files with 13 additions and 9 deletions.
diff --git a/simple_node/include/simple_node/actions/action_client.hpp b/simple_node/include/simple_node/actions/action_client.hpp
@@ -161,6 +161,10 @@ class ActionClient : public rclcpp_action::Client<ActionT> {
   void result_callback(const typename GoalHandle::WrappedResult &result) {
     this->result = result.result;
     this->set_status(result.code);
+
+    std::lock_guard<std::mutex> lock(this->goal_handle_mutex);
+    this->goal_handle = nullptr;
+
     this->action_done_cond.notify_one();
   }
 

diff --git a/simple_node/include/simple_node/node.hpp b/simple_node/include/simple_node/node.hpp
@@ -36,13 +36,10 @@ class Node : public rclcpp::Node {
 public:
   Node(const std::string &name,
        const rclcpp::NodeOptions &options = rclcpp::NodeOptions(),
-       rclcpp::Executor::SharedPtr executor =
-           std::make_shared<rclcpp::executors::MultiThreadedExecutor>());
+       rclcpp::Executor::SharedPtr executor = nullptr);
   Node(const std::string &name, const std::string &namespace_,
        const rclcpp::NodeOptions &options = rclcpp::NodeOptions(),
-       rclcpp::Executor::SharedPtr executor =
-           std::make_shared<rclcpp::executors::MultiThreadedExecutor>());
-  ~Node();
+       rclcpp::Executor::SharedPtr executor = nullptr);
 
   void join_spin();
 
@@ -123,7 +120,7 @@ class Node : public rclcpp::Node {
 private:
   rclcpp::CallbackGroup::SharedPtr group;
   rclcpp::Executor::SharedPtr executor;
-  std::thread *spin_thread;
+  std::unique_ptr<std::thread> spin_thread;
 
   void run_executor();
 

diff --git a/simple_node/src/simple_node/node.cpp b/simple_node/src/simple_node/node.cpp
@@ -26,14 +26,17 @@ Node::Node(const std::string &name, const std::string &namespace_,
            rclcpp::Executor::SharedPtr executor)
     : rclcpp::Node(name, namespace_, options), executor(executor) {
 
+  if (this->executor == nullptr) {
+    this->executor =
+        std::make_shared<rclcpp::executors::MultiThreadedExecutor>();
+  }
+
   rclcpp::CallbackGroup::SharedPtr group =
       this->create_callback_group(rclcpp::CallbackGroupType::Reentrant);
 
-  this->spin_thread = new std::thread(&Node::run_executor, this);
+  this->spin_thread = std::make_unique<std::thread>(&Node::run_executor, this);
 }
 
-Node::~Node() { delete this->spin_thread; }
-
 void Node::join_spin() {
   this->spin_thread->join();
   RCLCPP_INFO(this->get_logger(), "Destroying node %s", this->get_name());