Fix memory leak in rcl_subscription_init()/rcl_publisher_init() (#794) (

#833) * Fix memory leak in rcl_subscription_init()/rcl_publisher_init() (#794) * Fix memory leak in rcl_subscription_init()/rcl_publisher_init() In rcl_subscription_init(), while rmw_subscription_get_actual_qos() return failure, created rmw subscription handle isn't freed. In rcl_publisher_init(), while rmw_publisher_get_actual_qos() return failure, created rmw publisher handle isn't freed. Signed-off-by: Barry Xu <[email protected]> * Remove codes on the cascading errors. Signed-off-by: Barry Xu <[email protected]> * Change code style Signed-off-by: Barry Xu <[email protected]> * Output error message to stderr Signed-off-by: Barry Xu <[email protected]> * Remove redundant error formatting (#834) Follow-up to #794. rmw_get_error_string already formats the error with the file and line number. Signed-off-by: Jacob Perron <[email protected]> Co-authored-by: Barry Xu <[email protected]>
ros2 · Oct 16, 2020 · df14174 · df14174
1 parent 06b4240
commit df14174
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diff --git a/rcl/src/rcl/publisher.c b/rcl/src/rcl/publisher.c
@@ -197,6 +197,15 @@ rcl_publisher_init(
   goto cleanup;
 fail:
   if (publisher->impl) {
+    if (publisher->impl->rmw_handle) {
+      rmw_ret_t rmw_fail_ret = rmw_destroy_publisher(
+        rcl_node_get_rmw_handle(node), publisher->impl->rmw_handle);
+      if (RMW_RET_OK != rmw_fail_ret) {
+        RCUTILS_SAFE_FWRITE_TO_STDERR(rmw_get_error_string().str);
+        RCUTILS_SAFE_FWRITE_TO_STDERR("\n");
+      }
+    }
+
     allocator->deallocate(publisher->impl, allocator->state);
   }
 

diff --git a/rcl/src/rcl/subscription.c b/rcl/src/rcl/subscription.c
@@ -193,6 +193,15 @@ rcl_subscription_init(
   goto cleanup;
 fail:
   if (subscription->impl) {
+    if (subscription->impl->rmw_handle) {
+      rmw_ret_t rmw_fail_ret = rmw_destroy_subscription(
+        rcl_node_get_rmw_handle(node), subscription->impl->rmw_handle);
+      if (RMW_RET_OK != rmw_fail_ret) {
+        RCUTILS_SAFE_FWRITE_TO_STDERR(rmw_get_error_string().str);
+        RCUTILS_SAFE_FWRITE_TO_STDERR("\n");
+      }
+    }
+
     allocator->deallocate(subscription->impl, allocator->state);
   }
   ret = fail_ret;