From de9782f8351ae8cc88901c08e565fe9df48d72b9 Mon Sep 17 00:00:00 2001
From: Michael Orlov <michael.orlov@apex.ai>
Date: Thu, 26 Dec 2024 12:35:11 -0800
Subject: [PATCH] Bugfix. Event publisher not starting for second run after
 stop

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
---
 rosbag2_transport/src/rosbag2_transport/recorder.cpp | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/rosbag2_transport/src/rosbag2_transport/recorder.cpp b/rosbag2_transport/src/rosbag2_transport/recorder.cpp
index d5d1f0b0e..62a69732b 100644
--- a/rosbag2_transport/src/rosbag2_transport/recorder.cpp
+++ b/rosbag2_transport/src/rosbag2_transport/recorder.cpp
@@ -328,7 +328,11 @@ void RecorderImpl::record()
     node->create_publisher<rosbag2_interfaces::msg::WriteSplitEvent>("events/write_split", 1);
 
   // Start the thread that will publish events
-  event_publisher_thread_ = std::thread(&RecorderImpl::event_publisher_thread_main, this);
+  {
+    std::lock_guard<std::mutex> lock(event_publisher_thread_mutex_);
+    event_publisher_thread_should_exit_ = false;
+    event_publisher_thread_ = std::thread(&RecorderImpl::event_publisher_thread_main, this);
+  }
 
   rosbag2_cpp::bag_events::WriterEventCallbacks callbacks;
   callbacks.write_split_callback =