shutdown services in destructor of ClearCostmapService (#4495)

Signed-off-by: GoesM_server <[email protected]> Co-authored-by: GoesM_server <[email protected]>
ros-navigation · Jun 26, 2024 · 6ae21e8 · 6ae21e8
1 parent 715df8f
commit 6ae21e8
Show file tree

Hide file tree

Showing 2 changed files with 13 additions and 0 deletions.
diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/clear_costmap_service.hpp b/nav2_costmap_2d/include/nav2_costmap_2d/clear_costmap_service.hpp
@@ -48,6 +48,11 @@ class ClearCostmapService
    */
   ClearCostmapService() = delete;
 
+  /**
+   * @brief A destructor
+   */
+  ~ClearCostmapService();
+
   /**
    * @brief Clears the region outside of a user-specified area reverting to the static map
    */

diff --git a/nav2_costmap_2d/src/clear_costmap_service.cpp b/nav2_costmap_2d/src/clear_costmap_service.cpp
@@ -59,6 +59,14 @@ ClearCostmapService::ClearCostmapService(
       std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
 }
 
+ClearCostmapService::~ClearCostmapService()
+{
+  // make sure services shutdown.
+  clear_except_service_.reset();
+  clear_around_service_.reset();
+  clear_entire_service_.reset();
+}
+
 void ClearCostmapService::clearExceptRegionCallback(
   const shared_ptr<rmw_request_id_t>/*request_header*/,
   const shared_ptr<ClearExceptRegion::Request> request,