From 16a18ea0cb1dd5f0eebec4b125b9d79c913fe6ef Mon Sep 17 00:00:00 2001
From: Dominic Reber <dominic@aica.tech>
Date: Wed, 9 Oct 2024 13:30:27 +0200
Subject: [PATCH] fix: join execute thread on destruction

---
 .../include/modulo_components/Component.hpp                 | 4 ++--
 source/modulo_components/src/Component.cpp                  | 6 ++++++
 2 files changed, 8 insertions(+), 2 deletions(-)

diff --git a/source/modulo_components/include/modulo_components/Component.hpp b/source/modulo_components/include/modulo_components/Component.hpp
index 440b2341..429dbcb0 100644
--- a/source/modulo_components/include/modulo_components/Component.hpp
+++ b/source/modulo_components/include/modulo_components/Component.hpp
@@ -32,9 +32,9 @@ class Component : public rclcpp::Node, public ComponentInterface {
   explicit Component(const rclcpp::NodeOptions& node_options, const std::string& fallback_name = "Component");
 
   /**
-   * @brief Virtual default destructor.
+   * @brief Destructor that joins the thread if necessary.
    */
-  virtual ~Component() = default;
+  virtual ~Component();
 
 protected:
   /**
diff --git a/source/modulo_components/src/Component.cpp b/source/modulo_components/src/Component.cpp
index cb0ab8af..59f300c0 100644
--- a/source/modulo_components/src/Component.cpp
+++ b/source/modulo_components/src/Component.cpp
@@ -18,6 +18,12 @@ Component::Component(const NodeOptions& node_options, const std::string& fallbac
   this->add_predicate("in_error_state", false);
 }
 
+Component::~Component() {
+  if (this->execute_thread_.joinable()) {
+    this->execute_thread_.join();
+  }
+}
+
 void Component::step() {
   try {
     this->evaluate_periodic_callbacks();