From 541262d8497b772312d9494950a9958bc2c49517 Mon Sep 17 00:00:00 2001
From: Pioneer3 <lab1_5@P3-DX-4322.(none)>
Date: Mon, 1 Oct 2018 11:57:21 +0200
Subject: [PATCH] Added shutdown of publishers, subscribers and services at the
 robot shutdown

---
 RosAria.cpp | 22 ++++++++++++++++++++++
 1 file changed, 22 insertions(+)

diff --git a/RosAria.cpp b/RosAria.cpp
index 5e86ef2..d10700e 100644
--- a/RosAria.cpp
+++ b/RosAria.cpp
@@ -406,6 +406,28 @@ RosAriaNode::~RosAriaNode()
 
     robot->stopRunning();
     robot->waitForRunExit();
+
+    // Unregister all publishers, subscribers and services
+    pose_pub.shutdown();
+    bumpers_pub.shutdown();
+    wheel_pub.shutdown();
+    recharge_state_pub.shutdown();
+    state_of_charge_pub.shutdown();
+    cmdvel_sub.shutdown();
+    restrictions_sub.shutdown();
+    userstop_sub.shutdown();
+    masterstop_sub.shutdown();
+    clutch_sub.shutdown();
+    robot_info_pub.shutdown();
+
+    sonar_pub.shutdown();
+    sonar_pointcloud2_pub.shutdown();
+
+    gripper_open_srv.shutdown();
+    gripper_close_srv.shutdown();
+    gripper_up_srv.shutdown();
+    gripper_down_srv.shutdown();
+
     Aria::shutdown();
 }