From f39a27fbc116131ffeee1080e107a022b020ae78 Mon Sep 17 00:00:00 2001
From: Matthew Gabeler-Lee <fastcat@gmail.com>
Date: Thu, 6 Aug 2026 21:23:34 -0400
Subject: [PATCH] fix: correct use-after-free race causing frequent SIGSEGV
 when using the toggle_color/depth services (#208)

* fix: correct use-after-free race causing frequent SIGSEGV when using the toggle_color/depth services

(cherry picked from commit 2d59a581a82b81088971dccda353b96a527ee681)

* fix: add interleave_frame_enable handling in toggleSensor

Introduce interleave_frame_enable variable to manage frame interleaving during sensor toggling.

Signed-off-by: obshenlanzhou <shenlanzhou@orbbec.com>

---------

Signed-off-by: obshenlanzhou <shenlanzhou@orbbec.com>
Co-authored-by: obshenlanzhou <shenlanzhou@orbbec.com>
---
 orbbec_camera/src/ros_service.cpp | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/orbbec_camera/src/ros_service.cpp b/orbbec_camera/src/ros_service.cpp
index 8c4be54b..bbf8f012 100644
--- a/orbbec_camera/src/ros_service.cpp
+++ b/orbbec_camera/src/ros_service.cpp
@@ -1940,7 +1940,11 @@ bool OBCameraNode::toggleSensor(const stream_index_pair& stream_index, bool enab
                                 std::string& msg) {
   std::lock_guard<decltype(device_lock_)> lock(device_lock_);
   try {
-    pipeline_->stop();
+    const bool interleave_frame_enable = interleave_frame_enable_;
+    stopStreams();
+    interleave_frame_enable_ = interleave_frame_enable;
+    stopColorFrameThreads();
+    clearColorFrameQueues();
     enable_stream_[stream_index] = enabled;
     setupProfiles();
     startStreams();