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keep shared pointer reference to rcl_node handle for subscription fini (#505)

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William Woodall 2018-06-27 13:37:49 -07:00 • committed by GitHub
parent 4d67a8671b
commit a49281cff3
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1 changed files with 6 additions and 15 deletions
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21
rclcpp/src/rclcpp/subscription.cpp
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@ -37,23 +37,14 @@ SubscriptionBase::SubscriptionBase(
type_support_(type_support_handle),
is_serialized_(is_serialized)
{
std::weak_ptr<rcl_node_t> weak_node_handle(node_handle_);
auto custom_deletor = [weak_node_handle](rcl_subscription_t * rcl_subs)
auto custom_deletor = [node_handle](rcl_subscription_t * rcl_subs)
{
auto handle = weak_node_handle.lock();
if (handle) {
if (rcl_subscription_fini(rcl_subs, handle.get()) != RCL_RET_OK) {
RCLCPP_ERROR(
rclcpp::get_logger(rcl_node_get_logger_name(handle.get())).get_child("rclcpp"),
"Error in destruction of rcl subscription handle: %s",
rcl_get_error_string_safe());
rcl_reset_error();
}
} else {
if (rcl_subscription_fini(rcl_subs, node_handle.get()) != RCL_RET_OK) {
RCLCPP_ERROR(
rclcpp::get_logger("rclcpp"),
"Error in destruction of rcl subscription handle: "
"the Node Handle was destructed too early. You will leak memory");
rclcpp::get_logger(rcl_node_get_logger_name(node_handle.get())).get_child("rclcpp"),
"Error in destruction of rcl subscription handle: %s",
rcl_get_error_string_safe());
rcl_reset_error();
}
delete rcl_subs;
};