From 136b17522a5a23c5fd4c5c50b1388f4bb602ead8 Mon Sep 17 00:00:00 2001
From: Juan Ignacio Ubeira <jubeira@ekumenlabs.com>
Date: Mon, 29 May 2017 11:24:36 -0300
Subject: [PATCH] Fix to avoid spurious exceptions on node shutdown if there's
an active topic. - Minor nits for ParameterLoaderNode
---
rosjava/src/main/java/org/ros/internal/node/DefaultNode.java | 3 +--
.../src/main/java/org/ros/helpers/ParameterLoaderNode.java | 3 ++-
2 files changed, 3 insertions(+), 3 deletions(-)
diff --git a/rosjava/src/main/java/org/ros/internal/node/DefaultNode.java b/rosjava/src/main/java/org/ros/internal/node/DefaultNode.java
index a1572cb3..e5a4b7c0 100644
--- a/rosjava/src/main/java/org/ros/internal/node/DefaultNode.java
+++ b/rosjava/src/main/java/org/ros/internal/node/DefaultNode.java
@@ -39,8 +39,6 @@ import org.ros.internal.node.service.ServiceDeclaration;
import org.ros.internal.node.service.ServiceFactory;
import org.ros.internal.node.service.ServiceIdentifier;
import org.ros.internal.node.service.ServiceManager;
-import org.ros.internal.node.topic.DefaultPublisher;
-import org.ros.internal.node.topic.DefaultSubscriber;
import org.ros.internal.node.topic.PublisherFactory;
import org.ros.internal.node.topic.SubscriberFactory;
import org.ros.internal.node.topic.TopicDeclaration;
@@ -405,6 +403,7 @@ public class DefaultNode implements ConnectedNode {
// NOTE(damonkohler): We don't want to raise potentially spurious
// exceptions during shutdown that would interrupt the process. This is
// simply best effort cleanup.
+ slaveServer.shutdown();
topicParticipantManager.shutdown();
for (ServiceServer<?, ?> serviceServer : serviceManager.getServers()) {
try {
diff --git a/rosjava_helpers/src/main/java/org/ros/helpers/ParameterLoaderNode.java b/rosjava_helpers/src/main/java/org/ros/helpers/ParameterLoaderNode.java
index 47aa4406..25fcdd64 100644
--- a/rosjava_helpers/src/main/java/org/ros/helpers/ParameterLoaderNode.java
+++ b/rosjava_helpers/src/main/java/org/ros/helpers/ParameterLoaderNode.java
@@ -40,7 +40,7 @@ import java.util.Map;
public class ParameterLoaderNode extends AbstractNodeMain {
public static final String NODE_NAME = "parameter_loader";
- private final List<LoadedResource> params = new ArrayList<>();
+ private final List<LoadedResource> params = new ArrayList<LoadedResource>();
private Log log;
/**
@@ -57,6 +57,7 @@ public class ParameterLoaderNode extends AbstractNodeMain {
this.params.add(new LoadedResource((new Yaml()).load(ymlInputStream), namespace));
}
+ @SuppressWarnings("unchecked")
private void addParams(ParameterTree parameterTree, String namespace, Map<String, Object> params) {
for (Map.Entry<String, Object> e : params.entrySet()) {
String fullKeyName = namespace + "/" + e.getKey();
--
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