From 47f21dab3d2c01710c8ea04784e970eec4a92e15 Mon Sep 17 00:00:00 2001
From: Tomoya Fujita <Tomoya.Fujita@sony.com>
Date: Sun, 28 Feb 2021 00:03:32 +0900
Subject: [PATCH] node_handle must be destroyed after client_handle to prevent
 memory leak (#1562) (#1565)

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
---
 rclcpp_action/src/client.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/rclcpp_action/src/client.cpp b/rclcpp_action/src/client.cpp
index 95ccb62..e0e47bc 100644
--- a/rclcpp_action/src/client.cpp
+++ b/rclcpp_action/src/client.cpp
@@ -100,8 +100,9 @@ public:
 
   rclcpp::Context::SharedPtr context_;
   rclcpp::node_interfaces::NodeGraphInterface::WeakPtr node_graph_;
-  std::shared_ptr<rcl_action_client_t> client_handle{nullptr};
+  // node_handle must be destroyed after client_handle to prevent memory leak
   std::shared_ptr<rcl_node_t> node_handle{nullptr};
+  std::shared_ptr<rcl_action_client_t> client_handle{nullptr};
   rclcpp::Logger logger;
 
   using ResponseCallback = std::function<void (std::shared_ptr<void> response)>;