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Fix bad_weak_ptr in createBond() by using shared_ptr #5341

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Merged
SteveMacenski merged 3 commits into from
Jul 10, 2025
Merged

Fix bad_weak_ptr in createBond() by using shared_ptr #5341

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607edd2
Update lifecycle_node.hpp :: createBond() -> bond_ type fix
idesign0 Jul 8, 2025
d96001d
Update lifecycle_node.hpp
idesign0 Jul 8, 2025
9833be7
Update lifecycle_node.hpp: removing extra spaces
idesign0 Jul 9, 2025
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4 changes: 2 additions & 2 deletions nav2_ros_common/include/nav2_ros_common/lifecycle_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -313,7 +313,7 @@ class LifecycleNode : public rclcpp_lifecycle::LifecycleNode
if (bond_heartbeat_period > 0.0) {
RCLCPP_INFO(get_logger(), "Creating bond (%s) to lifecycle manager.", this->get_name());

bond_ = std::make_unique<bond::Bond>(
bond_ = std::make_shared<bond::Bond>(
std::string("bond"),
this->get_name(),
shared_from_this());
Expand Down Expand Up @@ -392,7 +392,7 @@ class LifecycleNode : public rclcpp_lifecycle::LifecycleNode

// Connection to tell that server is still up
std::unique_ptr<rclcpp::PreShutdownCallbackHandle> rcl_preshutdown_cb_handle_{nullptr};
std::unique_ptr<bond::Bond> bond_{nullptr};
std::shared_ptr<bond::Bond> bond_{nullptr};
double bond_heartbeat_period{0.1};
rclcpp::TimerBase::SharedPtr autostart_timer_;

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