From acf9609155c8f372abf789cad1d5bdfd3694636d Mon Sep 17 00:00:00 2001
From: Timothy Wiley <timothyw@cse.unsw.edu.au>
Date: Sun, 21 May 2017 11:08:59 +1000
Subject: [PATCH] crosbot_fastslam: make start/stop method virtual and use them
 overloaded properly

---
 .../include/crosbot_fastslam/fastslam.hpp             |  5 ++---
 crosbot_fastslam/include/crosbot_fastslam/module.hpp  |  3 ++-
 crosbot_fastslam/src/module.cpp                       | 11 +++++++++--
 crosbot_fastslam/src/nodes/fastslam.cpp               |  2 +-
 4 files changed, 14 insertions(+), 7 deletions(-)

diff --git a/crosbot_fastslam/include/crosbot_fastslam/fastslam.hpp b/crosbot_fastslam/include/crosbot_fastslam/fastslam.hpp
index 31311f3..a67dae2 100644
--- a/crosbot_fastslam/include/crosbot_fastslam/fastslam.hpp
+++ b/crosbot_fastslam/include/crosbot_fastslam/fastslam.hpp
@@ -30,8 +30,8 @@ public:
 	 * Methods for configuring and starting/stopping.
 	 */
 	void configure(ConfigElementPtr config);
-	void start();
-	void stop();
+	virtual void start();
+	virtual void stop();
 
 	/**
 	 * Allow for map to be paused resumed.
@@ -154,7 +154,6 @@ protected:
         }
     };
 
-
 	/**
 	 * FastSLAM motion parameters, and motion model
 	 */
diff --git a/crosbot_fastslam/include/crosbot_fastslam/module.hpp b/crosbot_fastslam/include/crosbot_fastslam/module.hpp
index ecfc770..06dd335 100644
--- a/crosbot_fastslam/include/crosbot_fastslam/module.hpp
+++ b/crosbot_fastslam/include/crosbot_fastslam/module.hpp
@@ -65,7 +65,8 @@ public:
     virtual ~FastSLAMModule();
 
     void initialize(ros::NodeHandle& nh);
-    void shutdown();
+    virtual void start();
+    virtual void stop();
 
 	// ROS Callbacks
     void callbackPoseEstimate(const geometry_msgs::PointStampedConstPtr& poseEstimate);
diff --git a/crosbot_fastslam/src/module.cpp b/crosbot_fastslam/src/module.cpp
index dc09fff..1f9e98c 100644
--- a/crosbot_fastslam/src/module.cpp
+++ b/crosbot_fastslam/src/module.cpp
@@ -116,13 +116,20 @@ void FastSLAMModule::initialize(ros::NodeHandle& nh) {
     start();
 }
 
-void FastSLAMModule::shutdown() {
-    stop();
+void FastSLAMModule::start() {
+    // Start fastslam
+    FastSLAMMap::start();
+}
 
+void FastSLAMModule::stop() {
+    // Stop this element
     scanSub.shutdown();
     snapSub.shutdown();
     gridPub.shutdown();
     historyPub.shutdown();
+
+    // Stop fastslam
+    FastSLAMMap::stop();
 }
 
 void FastSLAMModule::callbackPoseEstimate(const geometry_msgs::PointStampedConstPtr& poseEstimate) {
diff --git a/crosbot_fastslam/src/nodes/fastslam.cpp b/crosbot_fastslam/src/nodes/fastslam.cpp
index fd30371..d1112c4 100644
--- a/crosbot_fastslam/src/nodes/fastslam.cpp
+++ b/crosbot_fastslam/src/nodes/fastslam.cpp
@@ -29,7 +29,7 @@ int main(int argc, char** argv) {
     while (ros::ok()) {
         ros::spin();
     }
-    node->shutdown();
+    node->stop();
 
     return 0;
 }
-- 
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