From 357016c6011b22125f708052b8b572450e81cb20 Mon Sep 17 00:00:00 2001
From: Mauro Passerino <mpasserino@irobot.com>
Date: Fri, 18 Aug 2023 11:30:57 +0100
Subject: [PATCH] Unset gc's callback on ~EventsExecutorNotifyWaitable()

---
 .../rclcpp/executors/events_executor_notify_waitable.hpp   | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/rclcpp/include/rclcpp/executors/events_executor_notify_waitable.hpp b/rclcpp/include/rclcpp/executors/events_executor_notify_waitable.hpp
index 21b89ae692..adea505fd4 100644
--- a/rclcpp/include/rclcpp/executors/events_executor_notify_waitable.hpp
+++ b/rclcpp/include/rclcpp/executors/events_executor_notify_waitable.hpp
@@ -41,7 +41,12 @@ class EventsExecutorNotifyWaitable final : public EventWaitable
 
   // Destructor
   RCLCPP_PUBLIC
-  virtual ~EventsExecutorNotifyWaitable() = default;
+  virtual ~EventsExecutorNotifyWaitable()
+  {
+    for (auto & gc : notify_guard_conditions_) {
+      gc->set_on_trigger_callback(nullptr);
+    }
+  }
 
   // The function is a no-op, since we only care of waking up the executor
   RCLCPP_PUBLIC