From 16da43e1f074c9211947da83cbfe240c12337a4b Mon Sep 17 00:00:00 2001
From: Jackie Kay <jackie@osrfoundation.org>
Date: Thu, 17 Dec 2015 11:15:10 -0800
Subject: [PATCH] Avoid reinitializing allocator

---
 rclcpp/include/rclcpp/intra_process_manager_impl.hpp | 11 +++++++++--
 1 file changed, 9 insertions(+), 2 deletions(-)

diff --git a/rclcpp/include/rclcpp/intra_process_manager_impl.hpp b/rclcpp/include/rclcpp/intra_process_manager_impl.hpp
index 89c6f0c..c63e2a7 100644
--- a/rclcpp/include/rclcpp/intra_process_manager_impl.hpp
+++ b/rclcpp/include/rclcpp/intra_process_manager_impl.hpp
@@ -142,7 +142,7 @@ public:
     std::lock_guard<std::mutex> lock(runtime_mutex_);
     auto it = publishers_.find(intra_process_publisher_id);
     if (it == publishers_.end()) {
-      throw std::runtime_error("store_intra_process_message called with invalid publisher id");
+      throw std::runtime_error("get_publisher_info_for_id called with invalid publisher id");
     }
     PublisherInfo & info = it->second;
     // Calculate the next message sequence number.
@@ -168,7 +168,12 @@ public:
     // Figure out what subscriptions should receive the message.
     auto & destined_subscriptions = subscription_ids_by_topic_[publisher->get_topic_name()];
     // Store the list for later comparison.
-    info.target_subscriptions_by_message_sequence[message_seq].clear();
+    if (info.target_subscriptions_by_message_sequence.count(message_seq) == 0) {
+      info.target_subscriptions_by_message_sequence.emplace(
+        message_seq, AllocSet(std::less<uint64_t>(), uint64_allocator));
+    } else {
+      info.target_subscriptions_by_message_sequence[message_seq].clear();
+    }
     std::copy(
       destined_subscriptions.begin(), destined_subscriptions.end(),
       // Memory allocation occurs in info.target_subscriptions_by_message_sequence[message_seq]
@@ -242,6 +247,8 @@ private:
   template<typename T>
   using RebindAlloc = typename std::allocator_traits<Allocator>::template rebind_alloc<T>;
 
+  RebindAlloc<uint64_t> uint64_allocator;
+
   using AllocSet = std::set<uint64_t, std::less<uint64_t>, RebindAlloc<uint64_t>>;
   using SubscriptionMap = std::unordered_map<uint64_t, subscription::SubscriptionBase::WeakPtr,
       std::hash<uint64_t>, std::equal_to<uint64_t>,