change pointer free order in amcl to avoid use-after-free bug mention…

…ed in #4068 (#4070) Signed-off-by: GoesM <[email protected]> Co-authored-by: GoesM <[email protected]>
ros-navigation · Jan 25, 2024 · 1348e52 · 1348e52
1 parent e2781e5
commit 1348e52
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/nav2_amcl/src/amcl_node.cpp b/nav2_amcl/src/amcl_node.cpp
@@ -328,6 +328,7 @@ AmclNode::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
   nomotion_update_srv_.reset();
   initial_pose_sub_.reset();
   laser_scan_connection_.disconnect();
+  tf_listener_.reset();  //  listener may access lase_scan_filter_, so it should be reset earlier
   laser_scan_filter_.reset();
   laser_scan_sub_.reset();
 
@@ -341,7 +342,6 @@ AmclNode::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
 
   // Transforms
   tf_broadcaster_.reset();
-  tf_listener_.reset();
   tf_buffer_.reset();
 
   // PubSub