From 6f9a61474fdc1067be242af649bf1d2b6b2887d2 Mon Sep 17 00:00:00 2001
From: Jacob Perron <jacob@openrobotics.org>
Date: Tue, 6 Oct 2020 09:49:16 -0700
Subject: [PATCH] rmw_destroy_node must remove node from graph cache (#252)

Signed-off-by: Erik Boasson <eb@ilities.com>

Co-authored-by: Erik Boasson <eb@ilities.com>
---
 rmw_cyclonedds_cpp/src/rmw_node.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/rmw_cyclonedds_cpp/src/rmw_node.cpp b/rmw_cyclonedds_cpp/src/rmw_node.cpp
index b418949..b1578b4 100644
--- a/rmw_cyclonedds_cpp/src/rmw_node.cpp
+++ b/rmw_cyclonedds_cpp/src/rmw_node.cpp
@@ -1266,7 +1266,7 @@ extern "C" rmw_ret_t rmw_destroy_node(rmw_node_t * node)
     auto common = &node->context->impl->common;
     std::lock_guard<std::mutex> guard(common->node_update_mutex);
     rmw_dds_common::msg::ParticipantEntitiesInfo participant_msg =
-      common->graph_cache.add_node(common->gid, node->name, node->namespace_);
+      common->graph_cache.remove_node(common->gid, node->name, node->namespace_);
     result_ret = rmw_publish(
       common->pub, static_cast<void *>(&participant_msg), nullptr);
   }