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Store subscriptions, so they don't get cleaned up. #49

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Store subscriptions, so they don't get cleaned up. #49

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5 changes: 2 additions & 3 deletions include/humanoid_base_footprint/base_footprint.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,7 @@
#include <tf2_ros/transform_broadcaster.h>
#include <memory>
#include <string>
#include <vector>
#include <biped_interfaces/msg/phase.hpp>
#include <rclcpp/node.hpp>
#include <geometry_msgs/msg/transform_stamped.hpp>
Expand Down Expand Up @@ -57,9 +58,7 @@ class BaseFootprintBroadcaster : public rclcpp::Node
bool is_left_support_, got_support_foot_;
std::string base_link_frame_, base_footprint_frame_, r_sole_frame_, l_sole_frame_, odom_frame_;
void supportFootCallback(const biped_interfaces::msg::Phase msg);
rclcpp::Subscription<biped_interfaces::msg::Phase>::SharedPtr walking_support_foot_subscriber_;
rclcpp::Subscription<biped_interfaces::msg::Phase>::SharedPtr
dynamic_kick_support_foot_subscriber_;
std::vector<rclcpp::Subscription<biped_interfaces::msg::Phase>::SharedPtr> phase_subs_;

std::unique_ptr<tf2_ros::TransformBroadcaster> tfBroadcaster_;
rclcpp::TimerBase::SharedPtr timer_;
Expand Down
4 changes: 2 additions & 2 deletions src/base_footprint.cpp
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Expand Up @@ -51,13 +51,13 @@ BaseFootprintBroadcaster::BaseFootprintBroadcaster(const rclcpp::NodeOptions &)
std::vector<std::string> support_state_topics;
this->get_parameter("support_state_topics", support_state_topics);
for (auto topic : support_state_topics) {
this->create_subscription<biped_interfaces::msg::Phase>(
phase_subs_.emplace_back(this->create_subscription<biped_interfaces::msg::Phase>(
topic,
1,
std::bind(
&BaseFootprintBroadcaster::supportFootCallback,
this,
_1));
_1)));
}

tfBroadcaster_ = std::make_unique<tf2_ros::TransformBroadcaster>(this);
Expand Down