From 06ce6f4ca074e68320b9d22d32f197f4ceb0bb89 Mon Sep 17 00:00:00 2001 From: GoesM Date: Fri, 26 Jan 2024 00:31:00 +0800 Subject: [PATCH] change reset-order in nav2_amcl --- nav2_amcl/src/amcl_node.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/nav2_amcl/src/amcl_node.cpp b/nav2_amcl/src/amcl_node.cpp index 85dc80b39cb..91e587edc83 100644 --- 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