/libros/node_handle: alternative way to fix ros#838 (ros#1656)

josephduchesne · Jan 24, 2024 · 5ff2110 · 5ff2110
1 parent cb6e1b7
commit 5ff2110
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/clients/roscpp/src/libros/node_handle.cpp b/clients/roscpp/src/libros/node_handle.cpp
@@ -68,6 +68,10 @@ class NodeHandleBackingCollection
   V_SrvCImpl srv_cs_;
 
   boost::mutex mutex_;
+
+  // keep shared_ptrs to these managers to avoid assertions. Fixes #838
+  TopicManagerPtr keep_alive_topic_manager = TopicManager::instance();
+  ServiceManagerPtr keep_alive_service_manager = ServiceManager::instance();
 };
 
 NodeHandle::NodeHandle(const std::string& ns, const M_string& remappings)