Fix for multiple video plugins (#898) (#937)

* Fix for multiple video plugins (#898) * Fix crash on shutdown * Fix gazebo node destructor
ros-simulation · Jul 11, 2019 · 8d3f2ff · 8d3f2ff
1 parent 1200972
commit 8d3f2ff
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Showing 2 changed files with 3 additions and 2 deletions.
diff --git a/gazebo_plugins/src/gazebo_ros_video.cpp b/gazebo_plugins/src/gazebo_ros_video.cpp
@@ -200,8 +200,8 @@ void GazeboRosVideo::Load(
 
   int width = _sdf->Get<int>("width", 320).first;
 
-  impl_->video_visual_ = std::make_shared<VideoVisual>(_parent->Name() + "::video_visual",
-      _parent, height, width);
+  impl_->video_visual_ = std::make_shared<VideoVisual>(_parent->Name() + "::video_visual::" +
+      _sdf->Get<std::string>("name"), _parent, height, width);
   _parent->GetScene()->AddVisual(impl_->video_visual_);
 
   // Subscribe to the image topic

diff --git a/gazebo_ros/src/node.cpp b/gazebo_ros/src/node.cpp
@@ -28,6 +28,7 @@ std::mutex Node::lock_;
 
 Node::~Node()
 {
+  executor_->remove_node(get_node_base_interface());
 }
 
 Node::SharedPtr Node::Get(sdf::ElementPtr sdf)