Fix mutex lock error during streamer destruction.

patrickcjh · patrickcjh · commit a7f454d429f6 · 2025-04-22T12:28:42.000+08:00
diff --git a/src/ros_compressed_streamer.cpp b/src/ros_compressed_streamer.cpp
@@ -102,6 +102,9 @@ void RosCompressedStreamer::convertGrayscale16toGrayscaleAlpha(const sensor_msgs
 }
 
 void RosCompressedStreamer::imageCallback(const sensor_msgs::CompressedImageConstPtr &msg) {
+  if (inactive_)
+    return;
+
   boost::mutex::scoped_lock lock(send_mutex_); // protects last_msg and last_frame
   last_msg = msg;
   last_frame = ros::Time(msg->header.stamp.sec, msg->header.stamp.nsec);

Original file line number	Diff line number	Diff line change
`@@ -102,6 +102,9 @@ void RosCompressedStreamer::convertGrayscale16toGrayscaleAlpha(const sensor_msgs`
`102`	`102`	`}`
`103`	`103`
`104`	`104`	`void RosCompressedStreamer::imageCallback(const sensor_msgs::CompressedImageConstPtr &msg) {`
	`105`	`+ if (inactive_)`
	`106`	`+ return;`
	`107`	`+`
`105`	`108`	`boost::mutex::scoped_lock lock(send_mutex_); // protects last_msg and last_frame`
`106`	`109`	`last_msg = msg;`
`107`	`110`	`last_frame = ros::Time(msg->header.stamp.sec, msg->header.stamp.nsec);`