From b645e4ca683313866fb4b9fbb61d5aad0239d912 Mon Sep 17 00:00:00 2001
From: Olivier Stasse <ostasse@laas.fr>
Date: Wed, 6 Feb 2019 20:06:13 +0100
Subject: [PATCH] Remove useless thread.

---
 .../dynamic_graph_bridge/sot_loader_basic.hh  |  5 ++++
 src/sot_loader_basic.cpp                      | 28 ++++++-------------
 2 files changed, 13 insertions(+), 20 deletions(-)

diff --git a/include/dynamic_graph_bridge/sot_loader_basic.hh b/include/dynamic_graph_bridge/sot_loader_basic.hh
index 1631975..85de433 100644
--- 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
index 9898308..9fd1a85 100644
--- 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);
+  
 }