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[ros2] set spin_thread_ to null after delete #27

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[ros2] set spin_thread_ to null after delete #27

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2ac33f4
set spin_thread_ to null after delete
Apr 1, 2021
eb442b4
spin_some workaround
Apr 21, 2021
5b5e7da
tf2_geometry_msgs.h depreciation
Apr 26, 2022
b1a7d89
fix compiler warnings
Jul 14, 2022
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6 changes: 5 additions & 1 deletion costmap_converter/include/costmap_converter/costmap_converter_interface.h
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Original file line number Diff line number Diff line change
Expand Up @@ -190,6 +190,7 @@ class BaseCostmapToPolygons
}
spin_thread_->join();
delete spin_thread_;
spin_thread_ = nullptr;
}

if (spin_thread)
Expand Down Expand Up @@ -225,6 +226,7 @@ class BaseCostmapToPolygons
}
spin_thread_->join();
delete spin_thread_;
spin_thread_ = nullptr;
}
}

Expand All @@ -242,13 +244,15 @@ class BaseCostmapToPolygons
*/
void spinThread()
{
rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(nh_);
while (rclcpp::ok())
{
{
std::lock_guard<std::mutex> terminate_lock(terminate_mutex_);
if (need_to_terminate_)
break;
rclcpp::spin_some(nh_);
executor.spin_some();
}
}
}
Expand Down
2 changes: 1 addition & 1 deletion costmap_converter/src/costmap_to_dynamic_obstacles/costmap_to_dynamic_obstacles.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
#include <pluginlib/class_list_macros.hpp>
#include <tf2/LinearMath/Quaternion.h>
#include <tf2/LinearMath/Vector3.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>

PLUGINLIB_EXPORT_CLASS(costmap_converter::CostmapToDynamicObstacles, costmap_converter::BaseCostmapToPolygons)

Expand Down
20 changes: 10 additions & 10 deletions costmap_converter/test/costmap_polygons.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -122,10 +122,10 @@ TEST_F(CostmapToPolygonsDBSMCCHTest, dbScan)
std::vector< std::vector<costmap_converter::CostmapToPolygonsDBSMCCH::KeyPoint> > clusters;
costmap_to_polygons.dbScan(clusters);

ASSERT_EQ(3, clusters.size());
ASSERT_EQ(2, clusters[0].size()); // noisy points not belonging to a cluster
ASSERT_EQ(costmap_to_polygons.parameters().max_pts_, clusters[1].size()); // first cluster at (0,0)
ASSERT_EQ(costmap_to_polygons.parameters().max_pts_/2 + 1, clusters[2].size()); // second cluster at (1,1)
ASSERT_EQ((unsigned int)3, clusters.size());
ASSERT_EQ((unsigned int)2, clusters[0].size()); // noisy points not belonging to a cluster
ASSERT_EQ((unsigned int)costmap_to_polygons.parameters().max_pts_, clusters[1].size()); // first cluster at (0,0)
ASSERT_EQ((unsigned int)costmap_to_polygons.parameters().max_pts_/2 + 1, clusters[2].size()); // second cluster at (1,1)
}

TEST(CostmapToPolygonsDBSMCCH, EmptyMap)
Expand All @@ -137,8 +137,8 @@ TEST(CostmapToPolygonsDBSMCCH, EmptyMap)

std::vector< std::vector<costmap_converter::CostmapToPolygonsDBSMCCH::KeyPoint> > clusters;
costmap_to_polygons.dbScan(clusters);
ASSERT_EQ(1, clusters.size()); // noise cluster exists
ASSERT_EQ(0, clusters[0].size()); // noise clsuter is empty
ASSERT_EQ((unsigned int)1, clusters.size()); // noise cluster exists
ASSERT_EQ((unsigned int)0, clusters[0].size()); // noise clsuter is empty
}

TEST(CostmapToPolygonsDBSMCCH, SimplifyPolygon)
Expand All @@ -154,7 +154,7 @@ TEST(CostmapToPolygonsDBSMCCH, SimplifyPolygon)
// degenerate case with just two points
geometry_msgs::msg::Polygon original_polygon = polygon;
costmap_to_polygons.simplifyPolygon(polygon);
ASSERT_EQ(2, polygon.points.size());
ASSERT_EQ((unsigned int)2, polygon.points.size());
for (size_t i = 0; i < polygon.points.size(); ++i)
{
ASSERT_FLOAT_EQ(original_polygon.points[i].x, polygon.points[i].x);
Expand All @@ -165,7 +165,7 @@ TEST(CostmapToPolygonsDBSMCCH, SimplifyPolygon)
polygon.points.push_back(create_point(1., simplification_threshold / 2.));
original_polygon = polygon;
costmap_to_polygons.simplifyPolygon(polygon);
ASSERT_EQ(3, polygon.points.size());
ASSERT_EQ((unsigned int)3, polygon.points.size());
for (size_t i = 0; i < polygon.points.size(); ++i)
{
ASSERT_FLOAT_EQ(original_polygon.points[i].x, polygon.points[i].x);
Expand All @@ -177,7 +177,7 @@ TEST(CostmapToPolygonsDBSMCCH, SimplifyPolygon)
// remove the point that has to be removed by the simplification
original_polygon.points.erase(original_polygon.points.begin()+2);
costmap_to_polygons.simplifyPolygon(polygon);
ASSERT_EQ(3, polygon.points.size());
ASSERT_EQ((unsigned int)3, polygon.points.size());
for (size_t i = 0; i < polygon.points.size(); ++i)
{
ASSERT_FLOAT_EQ(original_polygon.points[i].x, polygon.points[i].x);
Expand Down Expand Up @@ -208,7 +208,7 @@ TEST(CostmapToPolygonsDBSMCCH, SimplifyPolygonPerfectLines)
polygon.points.push_back(create_point(lastPoint.x + i * 1., lastPoint.y));

costmap_to_polygons.simplifyPolygon(polygon);
ASSERT_EQ(6, polygon.points.size());
ASSERT_EQ((unsigned int)6, polygon.points.size());
ASSERT_FLOAT_EQ( 0., polygon.points[0].x);
ASSERT_FLOAT_EQ( 0., polygon.points[0].y);
ASSERT_FLOAT_EQ(100., polygon.points[1].x);
Expand Down