earlier executor_thread_.reset() in nav2_costmap_ros (ros-navigation#4385)

GoesM · goes · stevedanomodolor · commit 628537a6730b · 2025-04-29T21:09:36.000+02:00
* reorder cleanup_queue

Signed-off-by: goes &lt;GoesM@buaa.edu.cn&gt;

* codestyle

Signed-off-by: goes &lt;GoesM@buaa.edu.cn&gt;

* codestyle

Signed-off-by: goes &lt;GoesM@buaa.edu.cn&gt;

---------

Signed-off-by: goes &lt;GoesM@buaa.edu.cn&gt;
Co-authored-by: goes &lt;GoesM@buaa.edu.cn&gt;
Signed-off-by: stevedanomodolor &lt;stevedan.o.omodolor@gmail.com&gt;
diff --git a/nav2_costmap_2d/src/costmap_2d_ros.cpp b/nav2_costmap_2d/src/costmap_2d_ros.cpp
@@ -354,6 +354,7 @@ nav2_util::CallbackReturn
 Costmap2DROS::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
 {
   RCLCPP_INFO(get_logger(), "Cleaning up");
+  executor_thread_.reset();
 
   costmap_publisher_.reset();
   clear_costmap_service_.reset();
@@ -368,8 +369,6 @@ Costmap2DROS::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
   footprint_sub_.reset();
   footprint_pub_.reset();
 
-
-  executor_thread_.reset();
   return nav2_util::CallbackReturn::SUCCESS;
 }
 

Original file line number	Diff line number	Diff line change
`@@ -354,6 +354,7 @@ nav2_util::CallbackReturn`
`354`	`354`	`Costmap2DROS::on_cleanup(const rclcpp_lifecycle::State & /state/)`
`355`	`355`	`{`
`356`	`356`	`RCLCPP_INFO(get_logger(), "Cleaning up");`
	`357`	`+ executor_thread_.reset();`
`357`	`358`
`358`	`359`	`costmap_publisher_.reset();`
`359`	`360`	`clear_costmap_service_.reset();`
`@@ -368,8 +369,6 @@ Costmap2DROS::on_cleanup(const rclcpp_lifecycle::State & /state/)`
`368`	`369`	`footprint_sub_.reset();`
`369`	`370`	`footprint_pub_.reset();`
`370`	`371`
`371`		`-`
`372`		`- executor_thread_.reset();`
`373`	`372`	`return nav2_util::CallbackReturn::SUCCESS;`
`374`	`373`	`}`
`375`	`374`