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TopicPublisherROS2: fix Re-Publisher crashes (#477, #759) #118

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TopicPublisherROS2: fix Re-Publisher crashes (#477, #759) #118

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dca853a
fix(TopicPublisherROS2): prevent crash when enabling Re-Publisher
avalen2022 Apr 23, 2026
3a2b727
style: clang-format generic_publisher.h
avalen2022 Apr 24, 2026
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7 changes: 2 additions & 5 deletions src/TopicPublisherROS2/generic_publisher.h
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Original file line number Diff line number Diff line change
Expand Up @@ -30,7 +30,8 @@ class GenericPublisher : public rclcpp::PublisherBase
const rosidl_message_type_support_t& type_support)
// The rclcpp::PublisherBase constructor grew event-callback parameters after Humble (rclcpp 16.x).
#if RCLCPP_VERSION_GTE(17, 0, 0)
: rclcpp::PublisherBase(node_base, topic_name, type_support, rcl_publisher_get_default_options(), callbacks_, true)
: rclcpp::PublisherBase(node_base, topic_name, type_support, rcl_publisher_get_default_options(),
rclcpp::PublisherEventCallbacks{}, true)
#else
: rclcpp::PublisherBase(node_base, topic_name, type_support, rcl_publisher_get_default_options())
#endif
Expand All @@ -57,10 +58,6 @@ class GenericPublisher : public rclcpp::PublisherBase

return std::make_shared<GenericPublisher>(node.get_node_base_interface().get(), topic_name, *type_support);
}

#if RCLCPP_VERSION_GTE(17, 0, 0)
rclcpp::PublisherEventCallbacks callbacks_;
#endif
};

#endif // GENERIC_PUBLISHER_H
17 changes: 8 additions & 9 deletions src/TopicPublisherROS2/publisher_ros2.cpp
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Expand Up @@ -111,15 +111,6 @@ void TopicPublisherROS2::setEnabled(bool to_enable)

updatePublishers();

if (!_tf_broadcaster)
{
_tf_broadcaster = std::make_unique<tf2_ros::TransformBroadcaster>(*_node);
}
if (!_tf_static_broadcaster)
{
_tf_static_broadcaster = std::make_unique<tf2_ros::StaticTransformBroadcaster>(*_node);
}

_previous_play_index = std::numeric_limits<int>::max();
}
else
Expand Down Expand Up @@ -293,10 +284,18 @@ void TopicPublisherROS2::broadcastTF(double current_time)
}
if (transforms_ptr == &transforms)
{
if (!_tf_broadcaster)
{
_tf_broadcaster = std::make_shared<tf2_ros::TransformBroadcaster>(*_node);
}
_tf_broadcaster->sendTransform(transforms_vector);
}
else
{
if (!_tf_static_broadcaster)
{
_tf_static_broadcaster = std::make_shared<tf2_ros::StaticTransformBroadcaster>(*_node);
}
_tf_static_broadcaster->sendTransform(transforms_vector);
}
}
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