From b06d09cb4576cbb5a7c308131edc47faba8038c9 Mon Sep 17 00:00:00 2001
From: GoesM_server <GoesM@buaa.edu.cn>
Date: Wed, 26 Jun 2024 07:04:37 +0000
Subject: [PATCH] shutdown services in destructor of `ClearCostmapService`

Signed-off-by: GoesM_server <GoesM@buaa.edu.cn>
---
 .../include/nav2_costmap_2d/clear_costmap_service.hpp     | 5 +++++
 nav2_costmap_2d/src/clear_costmap_service.cpp             | 8 ++++++++
 2 files changed, 13 insertions(+)

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
index 2d74530b43..844902dd10 100644
--- 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
index 4a97b9ae1c..e11aca2ce5 100644
--- 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,