cleanup, added nullptr check to node.cpp, lifecyclenode.cpp

Signed-off-by: Aditya Pande <aditya050995@gmail.com>
ros2 · Aug 9, 2021 · 58174d0 · 58174d0
1 parent e6733bf
commit 58174d0
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Showing 4 changed files with 6 additions and 5 deletions.
diff --git a/rclcpp/include/rclcpp/node.hpp b/rclcpp/include/rclcpp/node.hpp
@@ -70,7 +70,6 @@
 #include "rclcpp/timer.hpp"
 #include "rclcpp/visibility_control.hpp"
 
-
 namespace rclcpp
 {
 

diff --git a/rclcpp/include/rclcpp/node_interfaces/node_base.hpp b/rclcpp/include/rclcpp/node_interfaces/node_base.hpp
@@ -15,8 +15,6 @@
 #ifndef RCLCPP__NODE_INTERFACES__NODE_BASE_HPP_
 #define RCLCPP__NODE_INTERFACES__NODE_BASE_HPP_
 
-#include <atomic>
-#include <functional>
 #include <memory>
 #include <mutex>
 #include <string>

diff --git a/rclcpp/src/rclcpp/node.cpp b/rclcpp/src/rclcpp/node.cpp
@@ -610,5 +610,7 @@ void Node::for_each_callback_group(
   const node_interfaces::NodeBaseInterface::CallbackGroupFunction & func)
 {
   auto node_base = std::dynamic_pointer_cast<rclcpp::node_interfaces::NodeBase>(node_base_);
-  node_base->for_each_callback_group(func);
+  if (!node_base) {
+    node_base->for_each_callback_group(func);
+  }
 }
diff --git a/rclcpp_lifecycle/src/lifecycle_node.cpp b/rclcpp_lifecycle/src/lifecycle_node.cpp
@@ -656,7 +656,9 @@ LifecycleNode::for_each_callback_group(
   const rclcpp::node_interfaces::NodeBaseInterface::CallbackGroupFunction & func)
 {
   auto node_base = std::dynamic_pointer_cast<rclcpp::node_interfaces::NodeBase>(node_base_);
-  node_base->for_each_callback_group(func);
+  if (!node_base) {
+    node_base->for_each_callback_group(func);
+  }
 }
 
 }  // namespace rclcpp_lifecycle