From a3e6384e929bdaa75b2e308829af892a71345aaa Mon Sep 17 00:00:00 2001
From: Matej Vargovcik <vargovcik@robotechvision.com>
Date: Fri, 20 May 2022 09:40:40 +0200
Subject: [PATCH] Fixed lifecycle manager startup (#2917)

---
 nav2_lifecycle_manager/src/lifecycle_manager.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/nav2_lifecycle_manager/src/lifecycle_manager.cpp b/nav2_lifecycle_manager/src/lifecycle_manager.cpp
index fac59f45eb..7a62fd5467 100644
--- 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()