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Guard callbackImage to avoid segfault #58

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Guard callbackImage to avoid segfault #58

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d32f667
Guard callbackImage
clydemcqueen Oct 15, 2021
2269ba4
Initialize shutting_down_
clydemcqueen Oct 15, 2021
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2 changes: 2 additions & 0 deletions include/rqt_image_view/image_view.h
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Original file line number Diff line number Diff line change
Expand Up @@ -150,6 +150,8 @@ protected slots:
int num_gridlines_;

RotateState rotate_state_;

bool shutting_down_;
};

}
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6 changes: 6 additions & 0 deletions src/rqt_image_view/image_view.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -49,6 +49,7 @@ ImageView::ImageView()
, widget_(0)
, num_gridlines_(0)
, rotate_state_(ROTATE_0)
, shutting_down_(false)
{
setObjectName("ImageView");
}
Expand Down Expand Up @@ -123,6 +124,7 @@ void ImageView::initPlugin(qt_gui_cpp::PluginContext& context)

void ImageView::shutdownPlugin()
{
shutting_down_ = true;
subscriber_.shutdown();
pub_mouse_left_.reset();
}
Expand Down Expand Up @@ -538,6 +540,10 @@ void ImageView::overlayGrid()

void ImageView::callbackImage(const sensor_msgs::msg::Image::ConstSharedPtr& msg)
{
if (shutting_down_) {
return;
}

try
{
// First let cv_bridge do its magic
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