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fix(driver): fix lifecycle node deactivate crash #372

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fix(driver): fix lifecycle node deactivate crash #372

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6 changes: 5 additions & 1 deletion ...en_402_driver/include/canopen_402_driver/node_interfaces/node_canopen_402_driver_impl.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -401,7 +401,11 @@ template <class NODETYPE>
void NodeCanopen402Driver<NODETYPE>::deactivate(bool called_from_base)
{
NodeCanopenProxyDriver<NODETYPE>::deactivate(false);
timer_->cancel();
if(timer_ != nullptr){
timer_->cancel();
}
this->exec_->post([this]() { motor_.reset(); });

}

template <class NODETYPE>
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7 changes: 5 additions & 2 deletions canopen_core/src/lifecycle_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -78,8 +78,11 @@ bool LifecycleManager::load_from_config()
for (auto it = devices.begin(); it != devices.end(); it++)
{
uint8_t node_id = config_->get_entry<uint8_t>(*it, "node_id").value();
std::string change_state_client_name = *it;
std::string get_state_client_name = *it;
std::string device_namespace = config_->get_entry<std::string>(*it, "namespace").value();
device_namespace += "/";
device_namespace += *it;
std::string change_state_client_name = device_namespace;
std::string get_state_client_name = device_namespace;
get_state_client_name += "/get_state";
change_state_client_name += "/change_state";
RCLCPP_INFO(this->get_logger(), "Found %s (node_id=%hu)", it->c_str(), node_id);
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