Use shared pointer when binding callback for serial read (#38)

* Resolves an issue with ROS Melodic on 18.04.

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;

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) {