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
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