Merge pull request #358 from lucasw/image_pub_dr_private_namespace

Use a shared_ptr for the dynamic reconfigure pointer, and create it w…
ros-perception · Apr 25, 2019 · eea2c59 · eea2c59
2 parents 1a2d641 + 3427b70
commit eea2c59
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);
   }
 };
 }