From eb86ba6e7c45a173c45a9c9737bba8f72d078a53 Mon Sep 17 00:00:00 2001
From: Michael Grupp <grupp@magazino.eu>
Date: Tue, 26 Mar 2019 12:06:14 +0100
Subject: [PATCH] Fix segfault by changing the destruction order. (#1235)

The metrics registry is used as a raw pointer reference in map builder
and must outlive it.

Since C++ destroys in reverse declaration order, we have to put the
registry declaration before the map builder bridge.

Fixes #1234.
---
 cartographer_ros/cartographer_ros/node.h | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/cartographer_ros/cartographer_ros/node.h b/cartographer_ros/cartographer_ros/node.h
index 7282dd5..62eb6f9 100644
--- a/cartographer_ros/cartographer_ros/node.h
+++ b/cartographer_ros/cartographer_ros/node.h
@@ -179,6 +179,7 @@ class Node {
   tf2_ros::TransformBroadcaster tf_broadcaster_;
 
   absl::Mutex mutex_;
+  std::unique_ptr<cartographer_ros::metrics::FamilyFactory> metrics_registry_;
   MapBuilderBridge map_builder_bridge_ GUARDED_BY(mutex_);
 
   ::ros::NodeHandle node_handle_;
@@ -225,8 +226,6 @@ class Node {
   // simulation time is standing still. This prevents overflowing the transform
   // listener buffer by publishing the same transforms over and over again.
   ::ros::Timer publish_local_trajectory_data_timer_;
-
-  std::unique_ptr<cartographer_ros::metrics::FamilyFactory> metrics_registry_;
 };
 
 }  // namespace cartographer_ros