From d7277bcd24930587b77e1c465b6af99a7f5db3c1 Mon Sep 17 00:00:00 2001
From: Paul D'Angio <pcdangio@gmail.com>
Date: Tue, 17 Nov 2020 23:01:01 -0500
Subject: [PATCH] switched to shared pointers for ros node components
---
driver_mpu9250/src/main_rpi.cpp | 2 +-
driver_mpu9250/src/ros_node.cpp | 10 ++--------
driver_mpu9250/src/ros_node.h | 7 +++----
3 files changed, 6 insertions(+), 13 deletions(-)
diff --git a/driver_mpu9250/src/main_rpi.cpp b/driver_mpu9250/src/main_rpi.cpp
index 7095145..9198fb1 100644
--- a/driver_mpu9250/src/main_rpi.cpp
+++ b/driver_mpu9250/src/main_rpi.cpp
@@ -4,7 +4,7 @@
int main(int argc, char **argv)
{
// Create the driver.
- rpi_driver* driver = new rpi_driver();
+ auto driver = std::make_shared<rpi_driver>();
// Create the node.
ros_node node(driver, argc, argv);
diff --git a/driver_mpu9250/src/ros_node.cpp b/driver_mpu9250/src/ros_node.cpp
index af727b6..cd47976 100644
--- a/driver_mpu9250/src/ros_node.cpp
+++ b/driver_mpu9250/src/ros_node.cpp
@@ -8,7 +8,7 @@
#include <cmath>
// CONSTRUCTORS
-ros_node::ros_node(driver *driver, int argc, char **argv)
+ros_node::ros_node(std::shared_ptr<driver> driver, int argc, char **argv)
{
// Initialize flags.
ros_node::f_gyroscope_calibrating = false;
@@ -20,7 +20,7 @@ ros_node::ros_node(driver *driver, int argc, char **argv)
ros::init(argc, argv, "driver_mpu9250");
// Get the node's handle.
- ros_node::m_node = new ros::NodeHandle();
+ ros_node::m_node = std::make_shared<ros::NodeHandle>();
// Read parameters.
ros::NodeHandle private_node("~");
@@ -73,12 +73,6 @@ ros_node::ros_node(driver *driver, int argc, char **argv)
// Perform initial gyroscope calibration.
ros_node::calibrate_gyroscope(500);
}
-ros_node::~ros_node()
-{
- // Clean up resources.
- delete ros_node::m_node;
- delete ros_node::m_driver;
-}
// ROS
void ros_node::spin()
diff --git a/driver_mpu9250/src/ros_node.h b/driver_mpu9250/src/ros_node.h
index de992e2..1aafd49 100644
--- a/driver_mpu9250/src/ros_node.h
+++ b/driver_mpu9250/src/ros_node.h
@@ -21,8 +21,7 @@ public:
/// \param driver The MPU9250 driver instance.
/// \param argc Number of main() args.
/// \param argv The main() args.
- ros_node(driver* driver, int argc, char **argv);
- ~ros_node();
+ ros_node(std::shared_ptr<driver> driver, int argc, char **argv);
// METHODS
/// \brief spin Runs the node.
@@ -31,7 +30,7 @@ public:
private:
// COMPONENTS
/// \brief m_driver The driver instance.
- driver* m_driver;
+ std::shared_ptr<driver> m_driver;
// CALIBRATIONS
/// \brief The accelerometer's calibration.
@@ -53,7 +52,7 @@ private:
// ROS
/// \brief m_node The node's handle.
- ros::NodeHandle* m_node;
+ std::shared_ptr<ros::NodeHandle> m_node;
// PUBLISHERS
/// \brief Publisher for accelerometer data.
--
GitLab