On Tue, Nov 9, 2010 at 5:17 PM, Josh Faust <jfaust@willowgarage.com> wrote:
>>
>> Sure. I assume the callbacks just don't get called any more.  But, a
>> device thread (see below) needs to know when to terminate. Does it
>> still check ros::ok() or ros::shutdown()?
>
> No, you'd check some flag that you set in your nodelet's destructor, and
> then the destructor joins on that thread.  Your nodelet may be getting
> stopped even though the node itself is still running.

That's what I was wondering about.

I'm not in the habit of doing long-running things in a destructor. I
worry that things may get hung up somehow with multiple threads in
flight.
-- 
 joq