From 0897da9252b4cb537b1110e88831a1e63ac157d3 Mon Sep 17 00:00:00 2001 From: GoesM <130988564+GoesM@users.noreply.github.com> Date: Tue, 12 Mar 2024 07:08:28 +0800 Subject: [PATCH] completely shutdown inital_pose_sub_ (#4176) Signed-off-by: GoesM Co-authored-by: GoesM --- nav2_amcl/src/amcl_node.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/nav2_amcl/src/amcl_node.cpp b/nav2_amcl/src/amcl_node.cpp index 192111439f4..d1c47979321 100644 --- a/nav2_amcl/src/amcl_node.cpp +++ b/nav2_amcl/src/amcl_node.cpp @@ -326,6 +326,7 @@ AmclNode::on_cleanup(const rclcpp_lifecycle::State & /*state*/) // don't continue to process incoming messages global_loc_srv_.reset(); nomotion_update_srv_.reset(); + executor_thread_.reset(); // to make sure initial_pose_sub_ completely exit initial_pose_sub_.reset(); laser_scan_connection_.disconnect(); tf_listener_.reset(); // listener may access lase_scan_filter_, so it should be reset earlier