Remove useless thread.

stack-of-tasks · Feb 6, 2019 · b645e4c · b645e4c
1 parent df773fd
commit b645e4c
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Showing 2 changed files with 13 additions and 20 deletions.
diff --git a/include/dynamic_graph_bridge/sot_loader_basic.hh b/include/dynamic_graph_bridge/sot_loader_basic.hh
@@ -71,7 +71,12 @@ protected:
 
   /// \brief Coefficient between parallel joints and the state vector.
   std::vector<double> coefficient_parallel_joints_;
+  /// Advertises start_dynamic_graph services
+  ros::ServiceServer service_start_;
 
+  /// Advertises stop_dynamic_graph services
+  ros::ServiceServer service_stop_;
+
   // Joint state publication.
   ros::Publisher joint_pub_;
 

diff --git a/src/sot_loader_basic.cpp b/src/sot_loader_basic.cpp
@@ -37,24 +37,6 @@ using namespace std;
 using namespace dynamicgraph::sot; 
 namespace po = boost::program_options;
 
-void createRosSpin(SotLoaderBasic *aSotLoaderBasic)
-{
-  ROS_INFO("createRosSpin started\n");
-  ros::NodeHandle n;
-
-  ros::ServiceServer service = n.advertiseService("start_dynamic_graph",
-                                                  &SotLoaderBasic::start_dg,
-                                                  aSotLoaderBasic);
-
-  ros::ServiceServer service2 = n.advertiseService("stop_dynamic_graph",
-                                                  &SotLoaderBasic::stop_dg,
-                                                  aSotLoaderBasic);
-
-
-  ros::waitForShutdown();
-}
-
-
 SotLoaderBasic::SotLoaderBasic():
   dynamic_graph_stopped_(true),
   sotRobotControllerLibrary_(0)
@@ -78,9 +60,15 @@ int SotLoaderBasic::initPublication()
 void SotLoaderBasic::initializeRosNode(int , char *[])
 {
   ROS_INFO("Ready to start dynamic graph.");
-  boost::unique_lock<boost::mutex> lock(mut);
-  boost::thread thr2(createRosSpin,this);
+  ros::NodeHandle n;
+  service_start_ = n.advertiseService("start_dynamic_graph",
+                                     &SotLoaderBasic::start_dg,
+                                     this);
 
+  service_stop_  = n.advertiseService("stop_dynamic_graph",
+                                     &SotLoaderBasic::stop_dg,
+                                     this);
+
 }