Create PublisherData within NodeData

Signed-off-by: Yadunund <[email protected]>
ros2 · Sep 27, 2024 · 5b6ee63 · 5b6ee63
1 parent d19c278
commit 5b6ee63
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Showing 2 changed files with 9 additions and 2 deletions.
diff --git a/rmw_zenoh_cpp/src/detail/rmw_node_data.cpp b/rmw_zenoh_cpp/src/detail/rmw_node_data.cpp
@@ -127,6 +127,13 @@ bool NodeData::create_pub_data(
   const rmw_qos_profile_t * qos_profile)
 {
   std::lock_guard<std::mutex> lock_guard(mutex_);
+  if (is_shutdown_) {
+    RMW_ZENOH_LOG_ERROR_NAMED(
+      "rmw_zenoh_cpp",
+      "Unable to create PublisherData as the NodeData has been shutdown.");
+    return false;
+  }
+
   if (pubs_.count(publisher) > 0) {
     RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",

diff --git a/rmw_zenoh_cpp/src/rmw_event.cpp b/rmw_zenoh_cpp/src/rmw_event.cpp
@@ -63,8 +63,8 @@ rmw_publisher_event_init(
   }
 
   rmw_event->implementation_identifier = publisher->implementation_identifier;
-  // TODO(Yadunund): This is still subject to race conditions. Should we
-  // set data to context_impl which is assumed to outlast all entities?
+  // TODO(Yadunund): This assumes that publishers outlive their events
+  // which is the behavior in rcl/rclcpp.
   rmw_event->data = pub_data->events_mgr().get();
   rmw_event->event_type = event_type;