Don't remove the node at destruction (#683)

christophfroehlich · web-flow · commit 90c951871312 · 2025-09-26T13:41:44.000+02:00
diff --git a/gz_ros2_control/src/gz_ros2_control_plugin.cpp b/gz_ros2_control/src/gz_ros2_control_plugin.cpp
@@ -254,11 +254,6 @@ GazeboSimROS2ControlPlugin::GazeboSimROS2ControlPlugin()
 //////////////////////////////////////////////////
 GazeboSimROS2ControlPlugin::~GazeboSimROS2ControlPlugin()
 {
-  // Stop controller manager thread
-  if (!this->dataPtr->controller_manager_) {
-    return;
-  }
-  this->dataPtr->executor_->remove_node(this->dataPtr->controller_manager_);
   this->dataPtr->executor_->cancel();
   this->dataPtr->thread_executor_spin_.join();
 }

Original file line number	Diff line number	Diff line change
`@@ -254,11 +254,6 @@ GazeboSimROS2ControlPlugin::GazeboSimROS2ControlPlugin()`
`254`	`254`	`//////////////////////////////////////////////////`
`255`	`255`	`GazeboSimROS2ControlPlugin::~GazeboSimROS2ControlPlugin()`
`256`	`256`	`{`
`257`		`- // Stop controller manager thread`
`258`		`- if (!this->dataPtr->controller_manager_) {`
`259`		`- return;`
`260`		`- }`
`261`		`- this->dataPtr->executor_->remove_node(this->dataPtr->controller_manager_);`
`262`	`257`	`this->dataPtr->executor_->cancel();`
`263`	`258`	`this->dataPtr->thread_executor_spin_.join();`
`264`	`259`	`}`