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Fix uninitialization issues #340

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Fix uninitialization issues #340

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4 changes: 3 additions & 1 deletion ...base_driver/include/canopen_base_driver/node_interfaces/node_canopen_base_driver_impl.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -220,7 +220,9 @@ template <class NODETYPE>
void NodeCanopenBaseDriver<NODETYPE>::deactivate(bool called_from_base)
{
nmt_state_publisher_thread_.join();
poll_timer_->cancel();
if (poll_timer_) {
poll_timer_->cancel();
}
emcy_queue_.reset();
rpdo_queue_.reset();
if (diagnostic_enabled_.load())
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2 changes: 2 additions & 0 deletions canopen_core/include/canopen_core/device_container.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -75,6 +75,8 @@ class DeviceContainer : public rclcpp_components::ComponentManager
lifecycle_operation_ = false;
}

~DeviceContainer() override { shutdown(); }

/**
* @brief Executes the initialisation
*
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5 changes: 4 additions & 1 deletion canopen_ros2_control/src/canopen_system.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -48,7 +48,10 @@ void CanopenSystem::clean()
device_container_.reset();
executor_.reset();

init_thread_->join();
if (init_thread_->joinable())
{
init_thread_->join();
}
init_thread_.reset();

executor_.reset();
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