From dcaedf54ee38b11ef5009672e7a1b7d5f6c2e412 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Sergi=20Hern=C3=A0ndez=20Juan?= <shernand@iri.upc.edu>
Date: Tue, 10 Dec 2013 17:18:35 +0000
Subject: [PATCH] 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 | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/include/iri_base_algorithm/iri_base_algorithm.h b/include/iri_base_algorithm/iri_base_algorithm.h
index e0d3026..b41f0a4 100644
--- a/include/iri_base_algorithm/iri_base_algorithm.h
+++ b/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
--
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