Fixed lifecycle manager startup (#2917) (#2960)

Co-authored-by: Matej Vargovcik <[email protected]>
ros-navigation · May 20, 2022 · eb53c28 · eb53c28
1 parent cfd9cec
commit eb53c28
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/nav2_lifecycle_manager/src/lifecycle_manager.cpp b/nav2_lifecycle_manager/src/lifecycle_manager.cpp
@@ -99,10 +99,10 @@ LifecycleManager::LifecycleManager(const rclcpp::NodeOptions & options)
           },
           callback_group_);
       }
+      auto executor = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
+      executor->add_callback_group(callback_group_, get_node_base_interface());
+      service_thread_ = std::make_unique<nav2_util::NodeThread>(executor);
     });
-  auto executor = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
-  executor->add_callback_group(callback_group_, get_node_base_interface());
-  service_thread_ = std::make_unique<nav2_util::NodeThread>(executor);
 }
 
 LifecycleManager::~LifecycleManager()