From d4702512f7c2ddf5d481dfd4f42224b503b0124a Mon Sep 17 00:00:00 2001 From: Marco Randazzo Date: Tue, 22 Aug 2023 14:19:35 +0200 Subject: [PATCH] race condition fix for Localization2D_nws_ros2 --- .../localization2D_nws_ros2/Localization2D_nws_ros2.cpp | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/src/devices/localization2D_nws_ros2/Localization2D_nws_ros2.cpp b/src/devices/localization2D_nws_ros2/Localization2D_nws_ros2.cpp index feaef57..bba4469 100644 --- a/src/devices/localization2D_nws_ros2/Localization2D_nws_ros2.cpp +++ b/src/devices/localization2D_nws_ros2/Localization2D_nws_ros2.cpp @@ -165,6 +165,12 @@ bool Localization2D_nws_ros2::open(yarp::os::Searchable &config) bool Localization2D_nws_ros2::close() { + yCTrace(BATTERY_NWS_ROS2); + if (PeriodicThread::isRunning()) + { + PeriodicThread::stop(); + } + detach(); return true; }