From 21b132c85fa0a2a2f2c42c7b4e9f273e54dbdcbb Mon Sep 17 00:00:00 2001
From: Dominic Reber <dominic@aica.tech>
Date: Mon, 14 Oct 2024 19:19:52 +0200
Subject: [PATCH] fix: recreate urcl log handler pointer if necessary

---
 ur_robot_driver/src/urcl_log_handler.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/ur_robot_driver/src/urcl_log_handler.cpp b/ur_robot_driver/src/urcl_log_handler.cpp
index 809313d19..cf80ee3af 100644
--- a/ur_robot_driver/src/urcl_log_handler.cpp
+++ b/ur_robot_driver/src/urcl_log_handler.cpp
@@ -82,6 +82,9 @@ void UrclLogHandler::log(const char* file, int line, urcl::LogLevel loglevel, co
 void registerUrclLogHandler(const std::string& tf_prefix)
 {
   if (g_registered == false) {
+    if (g_log_handler == nullptr) {
+      g_log_handler = std::make_unique<UrclLogHandler>();
+    }
     g_log_handler->setTFPrefix(tf_prefix);
     // Log level is decided by ROS2 log level
     urcl::setLogLevel(urcl::LogLevel::DEBUG);