Ros与qobject::deleteLater配合使用陷阱

今天测试提了一个BUG, ROS节点切换masterUri时，无法订阅到数据，经过排查发现是因为在释放ros::NodeHandle包装类qnode对象时，使用的是deleteLater而不是delete，deleteLater延迟析构，会导致新的qnode初始化成功后，之前的deleteLater触发之前的qnode对象的析构函数，而析构函数中调用了ros::shutdown（）,又把ros节点给关闭了，ros订阅没有抛异常也没报错

QNode::~QNode() {
    m_check_master = false;
    if(ros::isStarted()) {
      ros::shutdown(); // explicitly needed since we use ros::start();
      ros::waitForShutdown();
    }
    wait();
    qInfo() <<"Destroy ros node successfully.";
}

bool QNode::init(const std::string &master_url, const std::string &host_url) {
    std::map<std::string,std::string> remappings;
    remappings["__master"] = master_url;
    remappings["__hostname"] = host_url;
    qInfo() << "QNode::init, masterUrl=" << master_url.c_str() << ",host_url=" << host_url.c_str()
             <<"topic info=" << SystemConfigImpl->topics();
    ros::init(remappings,"demokits_tool",ros::init_options::AnonymousName);
    //ros::init方法在一个程序运行期间只初始化依次，如果想改变master的地址通过ros::master::init方法
    ros::master::init(remappings);
    ros::master::setRetryTimeout(ros::WallDuration(3));// loop connection time out interval
    if ( ! ros::master::check() ) {
        qWarning() << "Ros master check failed, ros init failed.";
        return false;
    }
    m_master_ok = true;
    QtConcurrent::run(this,&QNode::startMasterCheck);
    qDebug() << "QNode::init, ros::isStarted()=" << ros::isStarted()  << ",ros::isOk()=" << ros::ok()
             <<",ros::isShuttingDown()=" << ros::isShuttingDown();
    ros::start(); // explicitly needed since our nodehandle is going out of scope.
    ros::NodeHandle n;
    start();
    qInfo() << "Ros node initialized succesfully.";
    return true;
}

void QNode::run() {
    ros::Rate loop_rate(30);
    int count = 0;
    if(ros::ok())
    {
        //ros::spinOnce();
        //loop_rate.sleep();
        ros::MultiThreadedSpinner s(2);
        ros::spin(s);
    }
    qInfo() << "Ros shutdown.";
    Q_EMIT rosShutdown(); // used to signal the gui for a shutdown (useful to roslaunch)
}

另外当ros初始化之后，如何切换masterUri的节点可以通过调用ros::master::init方法来实现，ros::master::init没有在头文件中定义，需要手动添加函数声明，如下

namespace ros
{
    namespace master
    {
        void init(const M_string& remappings);
    }
}