Fix restream frames feature

Author: bjsowa

include/web_video_server/web_video_server.hpp

@@ -98,6 +98,7 @@ class WebVideoServer : public rclcpp::Node
   void restream_frames(std::chrono::duration<double> max_age);
   void cleanup_inactive_streams();
 
+  rclcpp::TimerBase::SharedPtr restream_timer_;
   rclcpp::TimerBase::SharedPtr cleanup_timer_;
 
   // Parameters

src/web_video_server.cpp

@@ -139,7 +139,8 @@ WebVideoServer::WebVideoServer(const rclcpp::NodeOptions & options)
   RCLCPP_INFO(get_logger(), "Waiting For connections on %s:%d", address_.c_str(), port_);
 
   if (publish_rate_ > 0) {
-    create_wall_timer(1s / publish_rate_, [this]() {restream_frames(1s / publish_rate_);});
+    restream_timer_ = create_wall_timer(1s / publish_rate_,
+        [this]() {restream_frames(1s / publish_rate_);});
   }
 
   cleanup_timer_ = create_wall_timer(500ms, [this]() {cleanup_inactive_streams();});
@@ -156,8 +157,8 @@ void WebVideoServer::restream_frames(std::chrono::duration<double> max_age)
 {
   std::scoped_lock lock(streamers_mutex_);
 
-  for (auto & subscriber : streamers_) {
-    subscriber->restream_frame(max_age);
+  for (auto & streamer : streamers_) {
+    streamer->restream_frame(max_age);
   }
 }