Fixed rtabmapviz exit without hard kill

src/GuiNode.cpp

@@ -33,9 +33,14 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/utilite/ULogger.h>
 #include <signal.h>
 
+QApplication * app = 0;
+
 void my_handler(int s){
 	ROS_INFO("rtabmapviz: ctrl-c catched! Exiting Qt app...");
-	QApplication::exit();
+	if(app)
+	{
+		QMetaObject::invokeMethod(app, "quit");
+	}
 }
 
 int main(int argc, char** argv)
@@ -47,6 +52,9 @@ int main(int argc, char** argv)
 
 	ros::init(argc, argv, "rtabmapviz");
 
+	app = new QApplication(argc, argv);
+	app->connect( app, SIGNAL( lastWindowClosed() ), app, SLOT( quit() ) );
+
 	GuiWrapper gui(argc, argv);
 
 	// Catch ctrl-c to close the gui
@@ -63,10 +71,11 @@ int main(int argc, char** argv)
 
 	ROS_INFO("rtabmapviz started.");
 	// Now wait for application to finish
-	int r = gui.exec();// MUST be called by the Main Thread
+	int r = app->exec();// MUST be called by the Main Thread
 
 	spinner.stop();
 
+	delete app;
 	ROS_INFO("rtabmapviz: All done! Closing...");
 	return r;
 }

src/GuiWrapper.cpp

@@ -68,7 +68,6 @@ float max3( const float& a, const float& b, const float& c)
 }
 
 GuiWrapper::GuiWrapper(int & argc, char** argv) :
-		app_(0),
 		mainWindow_(0),
 		frameId_("base_link"),
 		waitForTransform_(true),
@@ -85,7 +84,6 @@ GuiWrapper::GuiWrapper(int & argc, char** argv) :
 		depthOdomInfo2Sync_(0)
 {
 	ros::NodeHandle nh;
-	app_ = new QApplication(argc, argv);
 
 	QString configFile = QDir::homePath()+"/.ros/rtabmapGUI.ini";
 	for(int i=1; i<argc; ++i)
@@ -111,7 +109,6 @@ GuiWrapper::GuiWrapper(int & argc, char** argv) :
 	bool paused = false;
 	nh.param("is_rtabmap_paused", paused, paused);
 	mainWindow_->setMonitoringState(paused);
-	app_->connect( app_, SIGNAL( lastWindowClosed() ), app_, SLOT( quit() ) );
 
 	ros::NodeHandle pnh("~");
 
@@ -249,12 +246,6 @@ GuiWrapper::~GuiWrapper()
 
 	delete infoMapSync_;
 	delete mainWindow_;
-	delete app_;
-}
-
-int GuiWrapper::exec()
-{
-	return app_->exec();
 }
 
 void GuiWrapper::infoMapCallback(

src/GuiWrapper.h

@@ -68,8 +68,6 @@ public:
 	GuiWrapper(int & argc, char** argv);
 	virtual ~GuiWrapper();
 
-	int exec();
-
 protected:
 	virtual void handleEvent(UEvent * anEvent);
 
@@ -263,7 +261,6 @@ private:
 	rtabmap::Transform getTransform(const std::string & fromFrameId, const std::string & toFrameId, const ros::Time & stamp) const;
 
 private:
-	QApplication * app_;
 	rtabmap::MainWindow * mainWindow_;
 	std::string cameraNodeName_;
 	double lastOdomInfoUpdateTime_;