From 8c846e337ad3eb0f4274ed6e9a0468789f123ee7 Mon Sep 17 00:00:00 2001
From: Dana Batali <dana.batali@gmail.com>
Date: Fri, 28 Feb 2020 10:48:55 -0800
Subject: [PATCH] Quell a warning.  Keep a handle on our notifier.

plugged resource leak for Closeable.
---
 .../lib/subsystems/estimator/RobotStateEstimator.java         | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/main/java/com/spartronics4915/lib/subsystems/estimator/RobotStateEstimator.java b/src/main/java/com/spartronics4915/lib/subsystems/estimator/RobotStateEstimator.java
index 99d0f5e..d41f250 100644
--- a/src/main/java/com/spartronics4915/lib/subsystems/estimator/RobotStateEstimator.java
+++ b/src/main/java/com/spartronics4915/lib/subsystems/estimator/RobotStateEstimator.java
@@ -41,6 +41,7 @@ public class RobotStateEstimator extends SpartronicsSubsystem
     private T265Camera mSLAMCamera;
     private final VisionEvent mVisionEventListener;
     private DrivetrainEstimator mEKF;
+    private Notifier mNotifier;
 
     private final EstimatorSource mBestEstimatorSource;
 
@@ -97,7 +98,8 @@ else if (mBestEstimatorSource == EstimatorSource.Fused)
         }
 
         // Run this at 100 Hz
-        new Notifier(this::run).startPeriodic(1 / 100.0);
+        this.mNotifier = new Notifier(this::run);
+        this.mNotifier.startPeriodic(1 / 100.0);
     }
 
     public VisionEvent getVisionListener()