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Fix memory leak in rcl_subscription_init()/rcl_publisher_init() (#794, #834) (#832)

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* 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 <barry.xu@sony.com>

* Remove codes on the cascading errors.

Signed-off-by: Barry Xu <barry.xu@sony.com>

* Change code style

Signed-off-by: Barry Xu <barry.xu@sony.com>

* Output error message to stderr

Signed-off-by: Barry Xu <barry.xu@sony.com>

* Remove format string

This version of the macro is not available in Foxy.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Print new line

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

Co-authored-by: Barry Xu <barry.xu@sony.com>
This commit is contained in:
Jacob Perron 2020-10-16 13:42:49 -07:00 • committed by GitHub
parent 6ec0c6cfa2
commit 76a706db9b
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GPG key ID: 4AEE18F83AFDEB23
2 changed files with 18 additions and 0 deletions
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9
rcl/src/rcl/publisher.c
View file

@ -197,6 +197,15 @@ rcl_publisher_init(
goto cleanup; goto cleanup;
fail: fail:
if (publisher->impl) { 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); allocator->deallocate(publisher->impl, allocator->state);
publisher->impl = NULL; publisher->impl = NULL;
} }

9
rcl/src/rcl/subscription.c
View file

@ -193,6 +193,15 @@ rcl_subscription_init(
goto cleanup; goto cleanup;
fail: fail:
if (subscription->impl) { 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); allocator->deallocate(subscription->impl, allocator->state);
} }
ret = fail_ret; ret = fail_ret;