TopicPublisherROS2: fix Re-Publisher crashes (#477, #759)#118
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Alvvalencia wants to merge 2 commits intoPlotJuggler:mainfrom
Open
TopicPublisherROS2: fix Re-Publisher crashes (#477, #759)#118Alvvalencia wants to merge 2 commits intoPlotJuggler:mainfrom
Alvvalencia wants to merge 2 commits intoPlotJuggler:mainfrom
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- GenericPublisher passed its `callbacks_` member by reference to
rclcpp::PublisherBase. Base init runs before member init, so rclcpp
read uninitialized std::function memory and crashed inside the
PublisherBase ctor. Pass a temporary rclcpp::PublisherEventCallbacks{}
and drop the dead member.
- setEnabled() eagerly created tf2_ros TransformBroadcaster / Static
broadcaster even for bags without /tf data. On Jazzy/Rolling this
triggers a separate tf2_ros QoS-override parameter-declaration crash
inside rclcpp. Defer broadcaster creation to broadcastTF() so it
only happens once /tf or /tf_static actually carries data.
Closes #477, #759.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
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Fixes #477, #759.
Two separate crashes triggered by enabling the Re-Publisher:
GenericPublisherpassed itscallbacks_member by reference torclcpp::PublisherBase. Base-class init runs before member init, sorclcpp read uninitialized
std::functionmemory and crashed insidethe
PublisherBasector. Pass a temporaryPublisherEventCallbacks{}and drop the dead member.
setEnabled()eagerly createdtf2_rosTransformBroadcaster / Staticbroadcaster even for bags with no
/tfdata. On Jazzy/Rolling thistriggers a separate tf2 QoS-override parameter-declaration crash inside
rclcpp. Defer broadcaster creation to
broadcastTF()so it only runsonce
/tfor/tf_staticactually carries data.