fix

BehaviorTree · May 5, 2024 · 16baeb5 · 16baeb5
1 parent 3ccd2e7
commit 16baeb5
Showing 1 changed file with 3 additions and 4 deletions.
diff --git a/behaviortree_ros2/include/behaviortree_ros2/bt_topic_sub_node.hpp b/behaviortree_ros2/include/behaviortree_ros2/bt_topic_sub_node.hpp
@@ -249,20 +249,19 @@ inline bool RosTopicSubNode<T>::createSubscriber(const std::string& topic_name)
  // find SubscriberInstance in the registry
  std::unique_lock lk(registryMutex());
 
- auto shared_node = node_.lock();
+ auto node = node_.lock();
  if(!node)
  {
  throw RuntimeError("The ROS node went out of scope. RosNodeParams doesn't take the "
  "ownership of the node.");
  }
- subscriber_key_ =
- std::string(shared_node->get_fully_qualified_name()) + "/" + topic_name;
+ subscriber_key_ = std::string(node->get_fully_qualified_name()) + "/" + topic_name;
 
  auto& registry = getRegistry();
  auto it = registry.find(subscriber_key_);
  if(it == registry.end() || it->second.expired())
  {
- sub_instance_ = std::make_shared<SubscriberInstance>(shared_node, topic_name);
+ sub_instance_ = std::make_shared<SubscriberInstance>(node, topic_name);
  registry.insert({ subscriber_key_, sub_instance_ });
 
  RCLCPP_INFO(logger(), "Node [%s] created Subscriber to topic [%s]", name().c_str(),