Assign nullptr to spin_thread_ after deletion #30
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In class BaseCostmapToPolygons, spin_thread_ pointer variable is used to check if thread should be stopped and join. After deletion in stopWorker ptr was never set to nullptr, so second call to stopWorker blocks forever. This bug prevent TEB planner from beeing used in lifecycle node, becouse BaseCostmapToPolygons cannot be stopped then destructed.
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Duplicate #27. Sorry for that |
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In class BaseCostmapToPolygons, spin_thread_ pointer variable is used to check if thread should be stopped and join.
After deletion in stopWorker ptr was never set to nullptr, so second call to stopWorker blocks forever.
This bug prevent TEB planner from being used in lifecycle node, because BaseCostmapToPolygons cannot be stopped then destructed.
Solution is to set spin_thread_ to null after deletion. In future, it will be more reliable to use smart pointers instead of raw.