Switch to shared pointer to hopefully avoid crash

toid_costmaps/include/toid_costmaps/game_elements_layer.hpp

@@ -40,7 +40,7 @@ public:
 
   void initGameElements();
 
-  void active_elements_cb(ActiveElements::UniquePtr msg);
+  void active_elements_cb(ActiveElements::SharedPtr msg);
 
 private:
   double last_min_x_, last_min_y_, last_max_x_, last_max_y_;
@@ -50,7 +50,7 @@ private:
   std::vector<GameElement> game_elements_;
   std::vector<GameElement> static_elements_;
   std::vector<std::string> extra_elements_;
-  ActiveElements::UniquePtr active_elements_;
+  ActiveElements::SharedPtr active_elements_;
 
   rclcpp::Subscription<ActiveElements>::SharedPtr active_elements_sub_;
 };

toid_costmaps/include/toid_costmaps/rival_layer.hpp

@@ -36,7 +36,7 @@ public:
 
   bool isClearable() override { return true; }
 
-  void rival_cb(Rivals::UniquePtr msg);
+  void rival_cb(Rivals::SharedPtr msg);
 
 private:
   double last_min_x_, last_min_y_, last_max_x_, last_max_y_;
@@ -45,7 +45,7 @@ private:
 
   uint debounce_ = 0;
 
-  Rivals::UniquePtr rivals_;
+  Rivals::SharedPtr rivals_;
 
   rclcpp::Subscription<Rivals>::SharedPtr rival_sub_;
 

toid_costmaps/src/game_elements_layer.cpp

@@ -44,9 +44,9 @@ void GameElementLayer::deactivate()
   extra_elements_.clear();
 }
 
-void GameElementLayer::active_elements_cb(ActiveElements::UniquePtr msg)
+void GameElementLayer::active_elements_cb(ActiveElements::SharedPtr msg)
 {
-  active_elements_ = std::move(msg);
+  active_elements_ = msg;
 }
 
 void GameElementLayer::updateBounds(

toid_costmaps/src/rival_layer.cpp

@@ -36,10 +36,10 @@ void RivalLayer::deactivate()
   rivals_.reset();
 }
 
-void RivalLayer::rival_cb(Rivals::UniquePtr msg)
+void RivalLayer::rival_cb(Rivals::SharedPtr msg)
 {
   if (msg->point.size() != 0 || debounce_++ > 10) {
-    rivals_ = std::move(msg);
+    rivals_ = msg;
     debounce_ = 0;
   }
 }