[aerial_robot_base] Explicitly stop timer and async spinner for safe destruction

jsk-ros-pkg / jsk_aerial_robot

The platfrom for aerial robot (e.g. general multirotor, hydrus, di, dragon, etc)

http://www.jsk.t.u-tokyo.ac.jp/index-j.html

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[aerial_robot_base] Explicitly stop timer and async spinner for safe destruction #515

Closed tongtybj closed 2 years ago

tongtybj commented 2 years ago

What is this

Explicitly stop timer and async spinner for the safe destruction of AerialRobotBase

Detail

Without this patch, there is following error messsage when kill the aerial_robot_base node:

 terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::lock_error> >'
 what():  boost: mutex lock failed in pthread_mutex_lock: Invalid argument