ros-humble-nav2-util-1.1.20-fix-lifecycle-bond.patch


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diff --git a/include/nav2_util/lifecycle_node.hpp b/include/nav2_util/lifecycle_node.hpp
index 6da348c..449a9db 100644
--- a/include/nav2_util/lifecycle_node.hpp
+++ b/include/nav2_util/lifecycle_node.hpp
@@ -204,7 +204,7 @@ protected:
   void runCleanups();
 
   // Connection to tell that server is still up
-  std::unique_ptr<bond::Bond> bond_{nullptr};
+  std::shared_ptr<bond::Bond> bond_{nullptr};
 };
 
 }  // namespace nav2_util
diff --git a/src/lifecycle_node.cpp b/src/lifecycle_node.cpp
index e09ae54..ca9719d 100644
--- a/src/lifecycle_node.cpp
+++ b/src/lifecycle_node.cpp
@@ -57,7 +57,7 @@ void LifecycleNode::createBond()
 {
   RCLCPP_INFO(get_logger(), "Creating bond (%s) to lifecycle manager.", this->get_name());
 
-  bond_ = std::make_unique<bond::Bond>(
+  bond_ = std::make_shared<bond::Bond>(
     std::string("bond"),
     this->get_name(),
     shared_from_this());