change pointer free order in amcl to avoid use-after-free bug mention…

…ed in ros-navigation#4068 (ros-navigation#4070) Signed-off-by: GoesM <[email protected]> Co-authored-by: GoesM <[email protected]> Signed-off-by: enricosutera <[email protected]>
enricosutera · May 19, 2024 · b5905a2 · b5905a2
1 parent c59d4ed
commit b5905a2
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/nav2_amcl/src/amcl_node.cpp b/nav2_amcl/src/amcl_node.cpp
@@ -328,6 +328,7 @@ AmclNode::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
   nomotion_update_srv_.reset();
   initial_pose_sub_.reset();
   laser_scan_connection_.disconnect();
+  tf_listener_.reset();  //  listener may access lase_scan_filter_, so it should be reset earlier
   laser_scan_filter_.reset();
   laser_scan_sub_.reset();
 
@@ -341,7 +342,6 @@ AmclNode::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
 
   // Transforms
   tf_broadcaster_.reset();
-  tf_listener_.reset();
   tf_buffer_.reset();
 
   // PubSub