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


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diff -Naur nav2-util-1.1.20_orig/include/nav2_util/lifecycle_node.hpp nav2-util-1.1.20/include/nav2_util/lifecycle_node.hpp
--- nav2-util-1.1.20_orig/include/nav2_util/lifecycle_node.hpp	2024-01-01 00:00:00.000000000 +0800
+++ nav2-util-1.1.20/include/nav2_util/lifecycle_node.hpp	2024-01-01 00:00:00.000000000 +0800
@@ -204,7 +204,7 @@
   std::shared_ptr<tf2_ros::Buffer> tf_;
   std::shared_ptr<tf2_ros::TransformListener> transform_listener_;
 
-  std::unique_ptr<bond::Bond> bond_{nullptr};
+  std::shared_ptr<bond::Bond> bond_{nullptr};
 };
 
 }  // namespace nav2_util
diff -Naur nav2-util-1.1.20_orig/src/lifecycle_node.cpp nav2-util-1.1.20/src/lifecycle_node.cpp
--- nav2-util-1.1.20_orig/src/lifecycle_node.cpp	2024-01-01 00:00:00.000000000 +0800
+++ nav2-util-1.1.20/src/lifecycle_node.cpp	2024-01-01 00:00:00.000000000 +0800
@@ -73,7 +73,7 @@
 {
   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());