From 089b630538bb17e5313bb78a2cda5c1eccfe4b0c Mon Sep 17 00:00:00 2001
From: Pimpest <82343504+pimpest@users.noreply.github.com>
Date: Mon, 30 Mar 2026 12:18:41 +0200
Subject: [PATCH] Switch to shared pointer to hopefully avoid crash

---
 toid_costmaps/include/toid_costmaps/game_elements_layer.hpp | 4 ++--
 toid_costmaps/include/toid_costmaps/rival_layer.hpp         | 4 ++--
 toid_costmaps/src/game_elements_layer.cpp                   | 4 ++--
 toid_costmaps/src/rival_layer.cpp                           | 4 ++--
 4 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/toid_costmaps/include/toid_costmaps/game_elements_layer.hpp b/toid_costmaps/include/toid_costmaps/game_elements_layer.hpp
index d550e3a..f589d50 100644
--- a/toid_costmaps/include/toid_costmaps/game_elements_layer.hpp
+++ b/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_;
 };
diff --git a/toid_costmaps/include/toid_costmaps/rival_layer.hpp b/toid_costmaps/include/toid_costmaps/rival_layer.hpp
index d63177e..87c6914 100644
--- a/toid_costmaps/include/toid_costmaps/rival_layer.hpp
+++ b/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_;
 
diff --git a/toid_costmaps/src/game_elements_layer.cpp b/toid_costmaps/src/game_elements_layer.cpp
index 05f0357..fb11c92 100644
--- a/toid_costmaps/src/game_elements_layer.cpp
+++ b/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(
diff --git a/toid_costmaps/src/rival_layer.cpp b/toid_costmaps/src/rival_layer.cpp
index 4ffbb0b..7ae1fbf 100644
--- a/toid_costmaps/src/rival_layer.cpp
+++ b/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;
   }
 }