ROS学习日记：(报错)terminate called after throwing an instance of 'rclcpp::exceptions::RCLInvalidArgument' what(): failed to create interrupt guard condition: context argument is null,

论坛里的一个老哥给出答案

https://discourse.ros.org/t/how-to-shutdown-and-reinitialize-a-publisher-node-in-ros-2/4090

就是我在初始化环境前先初始化了节点

 auto node = std::make_shared<Static_tf_broadcaster>(argv);

  rclcpp::init(argc,argv);
  rclcpp::spin(node);
  rclcpp::shutdown();

 

改正

  rclcpp::init(argc,argv);
  auto node = std::make_shared<Static_tf_broadcaster>(argv);

  
  rclcpp::spin(node);
  rclcpp::shutdown();