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Fix race condition on shutdown in try_discover_source() #143

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Fix race condition on shutdown in try_discover_source() #143

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6 changes: 6 additions & 0 deletions topic_tools/src/tool_base_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -103,6 +103,12 @@ void ToolBaseNode::make_subscribe_unsubscribe_decisions()

std::optional<std::pair<std::string, rclcpp::QoS>> ToolBaseNode::try_discover_source()
{
// Guard against calls that race with rclcpp::shutdown(): after the context is
// invalidated get_publishers_info_by_topic() will throw an RCLError.
if (!rclcpp::ok(this->get_node_base_interface()->get_context())) {
return {};
}

// borrowed this from domain bridge
// (https://github.com/ros2/domain_bridge/blob/main/src/domain_bridge/wait_for_graph_events.hpp)
// Query QoS info for publishers
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