change reset-order in nav2_amcl

ros-navigation · Jan 25, 2024 · 06ce6f4 · 06ce6f4
1 parent e2781e5
commit 06ce6f4
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/nav2_amcl/src/amcl_node.cpp b/nav2_amcl/src/amcl_node.cpp
@@ -328,6 +328,8 @@ AmclNode::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
   nomotion_update_srv_.reset();
   initial_pose_sub_.reset();
   laser_scan_connection_.disconnect();
+
+  tf_listener_.reset(); // tf_listener_ will access laser_scan_filter, so it should be reset earlier
   laser_scan_filter_.reset();
   laser_scan_sub_.reset();
 
@@ -341,7 +343,6 @@ AmclNode::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
 
   // Transforms
   tf_broadcaster_.reset();
-  tf_listener_.reset();
   tf_buffer_.reset();
 
   // PubSub