Fixed lifecycle manager startup (ros-navigation#2917)

robotechvision · May 20, 2022 · a3e6384 · a3e6384
1 parent 432b76d
commit a3e6384
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/nav2_lifecycle_manager/src/lifecycle_manager.cpp b/nav2_lifecycle_manager/src/lifecycle_manager.cpp
@@ -99,10 +99,10 @@ LifecycleManager::LifecycleManager(const rclcpp::NodeOptions & options)
           },
           callback_group_);
       }
+      auto executor = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
+      executor->add_callback_group(callback_group_, get_node_base_interface());
+      service_thread_ = std::make_unique<nav2_util::NodeThread>(executor);
     });
-  auto executor = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
-  executor->add_callback_group(callback_group_, get_node_base_interface());
-  service_thread_ = std::make_unique<nav2_util::NodeThread>(executor);
 }
 
 LifecycleManager::~LifecycleManager()