From 4cc446d9a2b08cc8115be45058f61857161a7856 Mon Sep 17 00:00:00 2001
From: Jacob Perron <jacob@openrobotics.org>
Date: Wed, 11 Nov 2020 09:38:46 -0800
Subject: [PATCH] Avoid reference cycle to fix memory leak (#1301) (#1450)

Signed-off-by: Chen Lihui <Lihui.Chen@sony.com>

Co-authored-by: Chen Lihui <lihui.chen@sony.com>
---
 rclcpp/include/rclcpp/create_subscription.hpp | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/rclcpp/include/rclcpp/create_subscription.hpp b/rclcpp/include/rclcpp/create_subscription.hpp
index 438cb72..9c22d17 100644
--- a/rclcpp/include/rclcpp/create_subscription.hpp
+++ b/rclcpp/include/rclcpp/create_subscription.hpp
@@ -117,8 +117,14 @@ create_subscription(
       rclcpp::topic_statistics::SubscriptionTopicStatistics<CallbackMessageT>
       >(node_topics->get_node_base_interface()->get_name(), publisher);
 
-    auto sub_call_back = [subscription_topic_stats]() {
-        subscription_topic_stats->publish_message();
+    std::weak_ptr<
+      rclcpp::topic_statistics::SubscriptionTopicStatistics<CallbackMessageT>
+    > weak_subscription_topic_stats(subscription_topic_stats);
+    auto sub_call_back = [weak_subscription_topic_stats]() {
+        auto subscription_topic_stats = weak_subscription_topic_stats.lock();
+        if (subscription_topic_stats) {
+          subscription_topic_stats->publish_message();
+        }
       };
 
     auto node_timer_interface = node_topics->get_node_timers_interface();