use unique_ptr for map_update_thread (#2977)

* use unique_ptr for map_update_thread Signed-off-by: zhenpeng ge <[email protected]> * update Signed-off-by: zhenpeng ge <[email protected]>
ros-navigation · Jun 1, 2022 · bd31820 · bd31820
1 parent 3bd773c
commit bd31820
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Showing 2 changed files with 3 additions and 8 deletions.
diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
@@ -329,7 +329,7 @@ class Costmap2DROS : public nav2_util::LifecycleNode
   bool stop_updates_{false};
   bool initialized_{false};
   bool stopped_{true};
-  std::thread * map_update_thread_{nullptr};  ///< @brief A thread for updating the map
+  std::unique_ptr<std::thread> map_update_thread_;  ///< @brief A thread for updating the map
   rclcpp::Time last_publish_{0, 0, RCL_ROS_TIME};
   rclcpp::Duration publish_cycle_{1, 0};
   pluginlib::ClassLoader<Layer> plugin_loader_{"nav2_costmap_2d", "nav2_costmap_2d::Layer"};

diff --git a/nav2_costmap_2d/src/costmap_2d_ros.cpp b/nav2_costmap_2d/src/costmap_2d_ros.cpp
@@ -238,10 +238,8 @@ Costmap2DROS::on_activate(const rclcpp_lifecycle::State & /*state*/)
   stopped_ = true;  // to active plugins
   stop_updates_ = false;
   map_update_thread_shutdown_ = false;
-
-  map_update_thread_ = new std::thread(
-    std::bind(
-      &Costmap2DROS::mapUpdateLoop, this, map_update_frequency_));
+  map_update_thread_ = std::make_unique<std::thread>(
+    std::bind(&Costmap2DROS::mapUpdateLoop, this, map_update_frequency_));
 
   start();
 
@@ -264,11 +262,8 @@ Costmap2DROS::on_deactivate(const rclcpp_lifecycle::State & /*state*/)
   stop();
 
   // Map thread stuff
-  // TODO(mjeronimo): unique_ptr
   map_update_thread_shutdown_ = true;
   map_update_thread_->join();
-  delete map_update_thread_;
-  map_update_thread_ = nullptr;
 
   return nav2_util::CallbackReturn::SUCCESS;
 }