Creating viewer pub variable for C++ factory node

mgonzs13 · mgonzs13 · commit 53cd470e6a7b · 2026-01-12T12:12:20.000+01:00
diff --git a/yasmin_factory/src/yasmin_factory_node.cpp b/yasmin_factory/src/yasmin_factory_node.cpp
@@ -54,8 +54,9 @@ int main(int argc, char *argv[]) {
   sm->set_sigint_handler(true);
 
   // Publisher for visualizing the state machine
+  std::unique_ptr<yasmin_viewer::YasminViewerPub> yasmin_pub_ptr;
   if (enable_viewer_pub) {
-    yasmin_viewer::YasminViewerPub yasmin_pub(sm);
+    yasmin_pub_ptr = std::make_unique<yasmin_viewer::YasminViewerPub>(sm);
   }
 
   // Execute the state machine

Original file line number	Diff line number	Diff line change
`@@ -54,8 +54,9 @@ int main(int argc, char *argv[]) {`
`54`	`54`	`sm->set_sigint_handler(true);`
`55`	`55`
`56`	`56`	`// Publisher for visualizing the state machine`
	`57`	`+ std::unique_ptr<yasmin_viewer::YasminViewerPub> yasmin_pub_ptr;`
`57`	`58`	`if (enable_viewer_pub) {`
`58`		`- yasmin_viewer::YasminViewerPub yasmin_pub(sm);`
	`59`	`+ yasmin_pub_ptr = std::make_unique<yasmin_viewer::YasminViewerPub>(sm);`
`59`	`60`	`}`
`60`	`61`
`61`	`62`	`// Execute the state machine`