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Fix Datawriter destruction (#169)

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Signed-off-by: Pablo Garrido <pablogs9@gmail.com>

Signed-off-by: Pablo Garrido <pablogs9@gmail.com>
This commit is contained in:
Pablo Garrido
2022-08-23 12:42:03 +02:00
committed by GitHub
parent d4be840332
commit 4f686e8dc1
2 changed files with 5 additions and 5 deletions
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micro_ros_agent/include/agent/graph_manager/graph_manager.hpp
+1 -1
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@@ -305,7 +305,7 @@ private:
// Store a auxiliary publishers and datawriter for each participant created in micro-ROS // Store a auxiliary publishers and datawriter for each participant created in micro-ROS
std::map< std::map<
const eprosima::fastdds::dds::DomainParticipant*, const eprosima::fastdds::dds::DomainParticipant*,
std::unique_ptr<eprosima::fastdds::dds::DataWriter> eprosima::fastdds::dds::DataWriter*
> micro_ros_graph_datawriters_; > micro_ros_graph_datawriters_;
}; };
micro_ros_agent/src/agent/graph_manager/graph_manager.cpp
+4 -4
View File
@@ -322,11 +322,10 @@ void GraphManager::add_participant(
if (it == micro_ros_graph_datawriters_.end()) if (it == micro_ros_graph_datawriters_.end())
{ {
// Create datawriter // Create datawriter
std::unique_ptr<eprosima::fastdds::dds::DataWriter> datawriter; eprosima::fastdds::dds::DataWriter * datawriter = publisher_->create_datawriter(ros_discovery_topic_.get(), datawriter_qos_);
datawriter.reset(publisher_->create_datawriter(ros_discovery_topic_.get(), datawriter_qos_));
it = micro_ros_graph_datawriters_.insert( it = micro_ros_graph_datawriters_.insert(
std::make_pair(participant, std::move(datawriter))).first; std::make_pair(participant, datawriter)).first;
} }
it->second->write(static_cast<void *>(&info)); it->second->write(static_cast<void *>(&info));
@@ -346,8 +345,9 @@ void GraphManager::remove_participant(
rmw_dds_common::convert_gid_to_msg(&gid, &info.gid); rmw_dds_common::convert_gid_to_msg(&gid, &info.gid);
auto it = micro_ros_graph_datawriters_.find(participant); auto it = micro_ros_graph_datawriters_.find(participant);
it->second->write(static_cast<void *>(&info)); it->second->write(static_cast<void *>(&info));
publisher_->delete_datawriter(it->second);
micro_ros_graph_datawriters_.erase(participant);
} }
micro_ros_graph_datawriters_.erase(participant);
} }
void GraphManager::add_datawriter( void GraphManager::add_datawriter(