From 76c39a39be23ca51a11f85c1ddb0dfc60f9356ac Mon Sep 17 00:00:00 2001 From: Antonio cuadros Date: Fri, 23 Jul 2021 07:54:25 +0200 Subject: [PATCH] Add aux micro-ros publishers delete --- micro_ros_agent/src/agent/graph_manager/graph_manager.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/micro_ros_agent/src/agent/graph_manager/graph_manager.cpp b/micro_ros_agent/src/agent/graph_manager/graph_manager.cpp index 8c5809a..b4c82c7 100644 --- a/micro_ros_agent/src/agent/graph_manager/graph_manager.cpp +++ b/micro_ros_agent/src/agent/graph_manager/graph_manager.cpp @@ -344,8 +344,10 @@ void GraphManager::remove_participant( rmw_dds_common::convert_gid_to_msg(&gid, &info.gid); auto it = micro_ros_graph_datawriters_.find(participant); it->second->write(static_cast(&info)); + + publisher_->delete_datawriter(it->second); + micro_ros_graph_datawriters_.erase(participant); } - micro_ros_graph_datawriters_.erase(participant); } void GraphManager::add_datawriter(