From 03900d6af9f5298e0781569a7f0fe49ac1e618f5 Mon Sep 17 00:00:00 2001
From: William Woodall <william@osrfoundation.org>
Date: Fri, 26 Aug 2016 18:08:58 -0700
Subject: [PATCH] call to rmw_init, despite the lack of rmw_shutdown (#69)

See: https://github.com/ros2/rclcpp/pull/207/files#r73983227
---
 rcl/src/rcl/rcl.c | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/rcl/src/rcl/rcl.c b/rcl/src/rcl/rcl.c
index 6809407..515babd 100644
--- a/rcl/src/rcl/rcl.c
+++ b/rcl/src/rcl/rcl.c
@@ -75,6 +75,13 @@ rcl_init(int argc, char ** argv, rcl_allocator_t allocator)
   // A very unlikely race condition, but it is possile I think.
   // I've documented that rcl_init() and rcl_shutdown() are not thread-safe with each other.
   __rcl_allocator = allocator;  // Set the new allocator.
+  // Initialize rmw_init.
+  rmw_ret_t rmw_ret = rmw_init();
+  if (rmw_ret != RMW_RET_OK) {
+    RCL_SET_ERROR_MSG(rmw_get_error_string_safe());
+    fail_ret = RCL_RET_ERROR;
+    goto fail;
+  }
   // TODO(wjwwood): Remove rcl specific command line arguments.
   // For now just copy the argc and argv.
   __rcl_argc = argc;