Changed the point where the thread is started (from the constructor to the...

Changed the point where the thread is started (from the constructor to the main ROS loop) to avoid executing the thread before ROS is correctly set up.

include/iri_base_algorithm/iri_base_algorithm.h

@@ -286,9 +286,6 @@ IriBaseAlgorithm<Algorithm>::IriBaseAlgorithm() :
 {
   ROS_DEBUG("IriBaseAlgorithm::Constructor");
 
-  // create the status thread
-  pthread_create(&this->thread,NULL,this->mainThread,this);
-
 //   // assign callback to dynamic reconfigure server
 //   dsrv_.setCallback(boost::bind(&IriBaseAlgorithm<Algorithm>::reconfigureCallback, this, _1, _2));
 
@@ -354,6 +351,9 @@ int IriBaseAlgorithm<Algorithm>::spin(void)
   // assign callback to dynamic reconfigure server
   this->dsrv_.setCallback(boost::bind(&IriBaseAlgorithm<Algorithm>::reconfigureCallback, this, _1, _2));
 
+  // create the status thread
+  pthread_create(&this->thread,NULL,this->mainThread,this);
+
   while(ros::ok() && !ctrl_c_hit_count_)
   {
     // update diagnostics