fixing late dynamic_reconfigure initialization #8
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jonbinney
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Jan 23, 2013
fixing late dynamic_reconfigure initialization
stwirth
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Dec 9, 2014
Attempt to fix invalid image_transport::CameraPublisher crashes during start-up.
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nodelet/driver.cpp:
important globals such as the image width and height are initialized within the config callback triggered by dynamic_reconfigure. During initialization of dynamic_reconfigure, this callback is executed in order to provide the default configuration.
Interestingly, the initialization of dynamic_reconfigure takes place within a separate thread (and not within the constructor). If a subscriber already connects during start-up to the image_raw publisher, the initialization thread might not be ready yet and width&height defined within the dynamic_reconfigure callback is undefined (leading to a crash of the nodelet manager).