From a86d88312824833446d8ec1acfaf5f757d2c6520 Mon Sep 17 00:00:00 2001
From: Antonio cuadros <acuadros1995@gmail.com>
Date: Wed, 28 Jul 2021 10:01:55 +0200
Subject: [PATCH] Keep graph manager alive until destruction

---
 .../agent/graph_manager/graph_manager.hpp     | 20 +++++++++----------
 micro_ros_agent/src/agent/Agent.cpp           | 10 +---------
 2 files changed, 10 insertions(+), 20 deletions(-)

diff --git a/micro_ros_agent/include/agent/graph_manager/graph_manager.hpp b/micro_ros_agent/include/agent/graph_manager/graph_manager.hpp
index 8ad99c6..c3618b0 100644
--- a/micro_ros_agent/include/agent/graph_manager/graph_manager.hpp
+++ b/micro_ros_agent/include/agent/graph_manager/graph_manager.hpp
@@ -80,17 +80,15 @@ public:
     /**
      * @brief   Default destructor.
      */
-    ~GraphManager() = default;
-
-	void stop()
-	{
-		if (microros_graph_publisher_.joinable())
-		{
-			exit = true;
-        	cv_.notify_one();
-			microros_graph_publisher_.join();
-		}
-	}
+    ~GraphManager()
+    {
+        if (microros_graph_publisher_.joinable())
+        {
+            exit = true;
+            cv_.notify_one();
+            microros_graph_publisher_.join();
+        }
+    }
 
     /**
      * @brief   Implementation of the notification logic that updates the micro-ROS graph.
diff --git a/micro_ros_agent/src/agent/Agent.cpp b/micro_ros_agent/src/agent/Agent.cpp
index da6af8b..cfef9c2 100644
--- a/micro_ros_agent/src/agent/Agent.cpp
+++ b/micro_ros_agent/src/agent/Agent.cpp
@@ -188,19 +188,11 @@ void Agent::run()
 void Agent::stop()
 {
     xrce_dds_agent_instance_.stop();
-
-    for (auto & element : graph_manager_map_)
-    {
-        element.second.stop();
-    }
-
-    graph_manager_map_.clear();
 }
 
 graph_manager::GraphManager* Agent::find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t domain_id)
 {
-
-auto it = graph_manager_map_.find(domain_id);
+    auto it = graph_manager_map_.find(domain_id);
 
     if (it != graph_manager_map_.end()) {
         return &it->second;