Ensure dedicated_listener_thread_ is active in TransformListener::init

ros2 · May 23, 2023 · 9a09cc3 · 9a09cc3
1 parent 5eee548
commit 9a09cc3
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Showing 2 changed files with 17 additions and 1 deletion.
diff --git a/tf2_ros/include/tf2_ros/transform_listener.h b/tf2_ros/include/tf2_ros/transform_listener.h
@@ -210,7 +210,14 @@ class TransformListener
       // Create executor with dedicated thread to spin.
       executor_ = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
       executor_->add_callback_group(callback_group_, node_base_interface_);
-      dedicated_listener_thread_ = std::make_unique<std::thread>([&]() {executor_->spin();});
+      std::promise<void> promise;
+      dedicated_listener_thread_ = std::make_unique<std::thread>(
+        [&promise, this]()
+        {
+          promise.set_value();
+          executor_->spin();
+        });
+      promise.get_future().get();
       // Tell the buffer we have a dedicated thread to enable timeouts
       buffer_.setUsingDedicatedThread(true);
     } else {

diff --git a/tf2_ros/test/test_transform_listener.cpp b/tf2_ros/test/test_transform_listener.cpp
@@ -104,6 +104,15 @@ TEST(tf2_test_transform_listener, transform_listener_with_intraprocess)
   custom_node->init_tf_listener();
 }
 
+TEST(tf2_test_transform_listener, transform_listener_spin_thread)
+{
+  auto node = rclcpp::Node::make_shared("tf2_ros_message_filter");
+
+  rclcpp::Clock::SharedPtr clock = std::make_shared<rclcpp::Clock>(RCL_SYSTEM_TIME);
+  tf2_ros::Buffer buffer(clock);
+  tf2_ros::TransformListener tfl(buffer, node, true);
+}
+
 int main(int argc, char ** argv)
 {
   testing::InitGoogleTest(&argc, argv);