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Join with the controller manager's executor thread on exit #79

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merged 4 commits into from
May 31, 2021
Merged

Join with the controller manager's executor thread on exit #79

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00d3db3
Stop and join with the controller manager thread on gazebo exit
kbogert May 27, 2021
376acef
Cleanup
kbogert May 28, 2021
ab4edfe
Whitespace cleanup
kbogert May 28, 2021
aa08e34
Correct style
kbogert May 28, 2021
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12 changes: 11 additions & 1 deletion gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -102,6 +102,9 @@ class GazeboRosControlPrivate
// Thread where the executor will sping
std::thread thread_executor_spin_;

// Flag to stop the executor thread when this plugin is exiting
bool stop_;

// Controller manager
std::shared_ptr<controller_manager::ControllerManager> controller_manager_;

Expand All @@ -122,6 +125,12 @@ GazeboRosControlPlugin::GazeboRosControlPlugin()

GazeboRosControlPlugin::~GazeboRosControlPlugin()
{
// Stop controller manager thread
impl_->stop_ = true;
impl_->executor_->remove_node(impl_->controller_manager_);
impl_->executor_->cancel();
impl_->thread_executor_spin_.join();

// Disconnect from gazebo events
impl_->update_connection_.reset();
}
Expand Down Expand Up @@ -303,9 +312,10 @@ void GazeboRosControlPlugin::Load(gazebo::physics::ModelPtr parent, sdf::Element
gazebo_period.seconds() << " s).");
}

impl_->stop_ = false;
auto spin = [this]()
{
while (rclcpp::ok()) {
while (rclcpp::ok() && !impl_->stop_) {
impl_->executor_->spin_once();
}
};
Expand Down