hamzamerzic · December 15, 2023 02:48 · Mar 6, 2017 · Mar 6, 2017 · Dec 29, 2016 · Dec 29, 2016
diff --git a/[ROS] ros_spinner.cpp → ros_spinner.cc b/[ROS] ros_spinner.cpp → ros_spinner.cc
diff --git a/ros_spinner.cpp → [ROS] ros_spinner.cpp b/ros_spinner.cpp → [ROS] ros_spinner.cpp
diff --git a/ros_spinner.cpp b/ros_spinner.cpp
@@ -1,19 +1,21 @@
 #include <ros/callback_queue.h>
+#include <ros/ros.h>
+#include <boost/thread.hpp>
 
 /*
  * @brief      A spinner thread to force ros to spinOnce() and therefore ros services/callbacks to
  *             get invoked etc.
  */
 class Spinner {
 public:
-    Spinner() : _run(true), _thread(std::bind(&Spinner::spin, this)) {
+    Spinner() : _run(true), _thread(boost::bind(&Spinner::spin, this)) {
     }
-    
+
     ~Spinner() {
         _run = false;
         _thread.join();
     }
-    
+
     void spin() {
         ros::NodeHandle nh;
         ros::WallDuration timeout(0.1f);
@@ -24,8 +26,26 @@ class Spinner {
 
         ros::spinOnce();  // For proper services cleanup.
     }
-    
+
 private:
     bool _run;
-    std::thread _thread;
-};
+    boost::thread _thread;
+};
+
+/*-----                  Different way                -----*/
+#include <ros/ros.h>
+#include <boost/thread.hpp>
+
+void spinThread() {
+    ros::spin();
+}
+
+int main(int argc, char** argv) {
+    boost::thread spin_thread(&spinThread);
+
+    // Some work...
+
+    ros::shutdown();
+    spin_thread.join();
+    return 0;
+}
diff --git a/ros_spinner.cpp b/ros_spinner.cpp
@@ -8,7 +8,12 @@ class Spinner {
 public:
     Spinner() : _run(true), _thread(std::bind(&Spinner::spin, this)) {
     }
-
+
+    ~Spinner() {
+        _run = false;
+        _thread.join();
+    }
+
     void spin() {
         ros::NodeHandle nh;
         ros::WallDuration timeout(0.1f);
@@ -19,12 +24,7 @@ class Spinner {
 
         ros::spinOnce();  // For proper services cleanup.
     }
-
-    void terminate() {
-        _run = false;
-        _thread.join();
-    }
-
+
 private:
     bool _run;
     std::thread _thread;

diff --git a/ros_spinner.cpp b/ros_spinner.cpp
@@ -6,26 +6,26 @@
  */
 class Spinner {
 public:
-    Spinner() : run(true), _thread(std::bind(&Spinner::spin, this)) {
+    Spinner() : _run(true), _thread(std::bind(&Spinner::spin, this)) {
     }
 
     void spin() {
         ros::NodeHandle nh;
         ros::WallDuration timeout(0.1f);
 
         ros::CallbackQueue* queue = ros::getGlobalCallbackQueue();
-        while (nh.ok() && run)
+        while (nh.ok() && _run)
             queue->callAvailable(timeout);
 
         ros::spinOnce();  // For proper services cleanup.
     }
 
     void terminate() {
-        run = false;
+        _run = false;
         _thread.join();
     }
 
 private:
-    bool run;
+    bool _run;
     std::thread _thread;
 };
diff --git a/ros_spinner.cpp b/ros_spinner.cpp
@@ -4,7 +4,8 @@
  * @brief      A spinner thread to force ros to spinOnce() and therefore ros services/callbacks to
  *             get invoked etc.
  */
-struct Spinner {
+class Spinner {
+public:
     Spinner() : run(true), _thread(std::bind(&Spinner::spin, this)) {
     }
 

diff --git a/ros_spinner.cpp b/ros_spinner.cpp
@@ -0,0 +1,30 @@
+#include <ros/callback_queue.h>
+
+/*
+ * @brief      A spinner thread to force ros to spinOnce() and therefore ros services/callbacks to
+ *             get invoked etc.
+ */
+struct Spinner {
+    Spinner() : run(true), _thread(std::bind(&Spinner::spin, this)) {
+    }
+
+    void spin() {
+        ros::NodeHandle nh;
+        ros::WallDuration timeout(0.1f);
+
+        ros::CallbackQueue* queue = ros::getGlobalCallbackQueue();
+        while (nh.ok() && run)
+            queue->callAvailable(timeout);
+
+        ros::spinOnce();  // For proper services cleanup.
+    }
+
+    void terminate() {
+        run = false;
+        _thread.join();
+    }
+
+private:
+    bool run;
+    std::thread _thread;
+};