Use a shared_ptr for the dynamic reconfigure pointer, and create it w…

…ith the private node handle so that the parameters for the dynamic reconfigure server are in the private namespace and two image publishers can coexist in the same manager #357
ros-perception · Apr 25, 2019 · 3427b70 · 3427b70
1 parent 8051b97
commit 3427b70
Showing 1 changed file with 5 additions and 3 deletions.
diff --git a/image_publisher/src/nodelet/image_publisher_nodelet.cpp b/image_publisher/src/nodelet/image_publisher_nodelet.cpp
@@ -48,7 +48,8 @@ using namespace boost::assign;
 namespace image_publisher {
 class ImagePublisherNodelet : public nodelet::Nodelet
 {
-  dynamic_reconfigure::Server<image_publisher::ImagePublisherConfig> srv;
+  typedef dynamic_reconfigure::Server<image_publisher::ImagePublisherConfig> ReconfigureServer;
+  boost::shared_ptr<ReconfigureServer> srv;
 
   image_transport::CameraPublisher pub_;
 
@@ -184,9 +185,10 @@ class ImagePublisherNodelet : public nodelet::Nodelet
 
     timer_ = nh_.createTimer(ros::Duration(1), &ImagePublisherNodelet::do_work, this);
 
-    dynamic_reconfigure::Server<image_publisher::ImagePublisherConfig>::CallbackType f =
+    srv.reset(new ReconfigureServer(getPrivateNodeHandle()));
+    ReconfigureServer::CallbackType f =
       boost::bind(&ImagePublisherNodelet::reconfigureCallback, this, _1, _2);
-    srv.setCallback(f);
+    srv->setCallback(f);
   }
 };
 }