From 2442ba209cf2e049394c79796effd216d55467a6 Mon Sep 17 00:00:00 2001
From: Yutaka Kondo <yutaka.kondo@youtalk.jp>
Date: Tue, 20 Aug 2019 02:32:00 +0900
Subject: [PATCH] Use shared pointer when binding callback for serial read
 (#38)

* Resolves an issue with ROS Melodic on 18.04.
---
 include/create/serial.h | 3 ++-
 src/serial.cpp          | 4 ++--
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/include/create/serial.h b/include/create/serial.h
index 9dd9bc3..28b5f69 100644
--- a/include/create/serial.h
+++ b/include/create/serial.h
@@ -40,13 +40,14 @@ POSSIBILITY OF SUCH DAMAGE.
 #include <boost/thread/condition_variable.hpp>
 #include <boost/function.hpp>
 #include <boost/shared_ptr.hpp>
+#include <boost/enable_shared_from_this.hpp>
 
 #include "create/data.h"
 #include "create/types.h"
 #include "create/util.h"
 
 namespace create {
-  class Serial {
+  class Serial : public boost::enable_shared_from_this<Serial> {
 
     protected:
       boost::asio::io_service io;
diff --git a/src/serial.cpp b/src/serial.cpp
index 3894b9e..12876aa 100644
--- a/src/serial.cpp
+++ b/src/serial.cpp
@@ -72,7 +72,7 @@ namespace create {
     // Start continuously reading one byte at a time
     boost::asio::async_read(port,
                             boost::asio::buffer(&byteRead, 1),
-                            boost::bind(&Serial::onData, this, _1, _2));
+                            boost::bind(&Serial::onData, shared_from_this(), _1, _2));
 
     ioThread = boost::thread(boost::bind(&boost::asio::io_service::run, &io));
 
@@ -145,7 +145,7 @@ namespace create {
     // Read the next byte
     boost::asio::async_read(port,
                             boost::asio::buffer(&byteRead, 1),
-                            boost::bind(&Serial::onData, this, _1, _2));
+                            boost::bind(&Serial::onData, shared_from_this(), _1, _2));
   }
 
   bool Serial::send(const uint8_t* bytes, unsigned int numBytes) {