A*planner

Signed-off-by: goes <[email protected]>
ros-navigation · Jul 16, 2024 · 3d42fa4 · 3d42fa4
1 parent 4f77b5d
commit 3d42fa4
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/nav2_theta_star_planner/src/theta_star_planner.cpp b/nav2_theta_star_planner/src/theta_star_planner.cpp
@@ -86,6 +86,8 @@ void ThetaStarPlanner::activate()
 void ThetaStarPlanner::deactivate()
 {
   RCLCPP_INFO(logger_, "Deactivating plugin %s of type nav2_theta_star_planner", name_.c_str());
+  parent_node_.lock()->remove_on_set_parameters_callback(dyn_params_handler_.get());
+  dyn_params_handler_.reset();
 }
 
 nav_msgs::msg::Path ThetaStarPlanner::createPlan(