Memory issues

rclcpp/include/rclcpp/executor.hpp

@@ -306,10 +306,10 @@ class Executor
   std::atomic_bool spinning;
 
   /// Guard condition for signaling the rmw layer to wake up for special events.
-  rcl_guard_condition_t interrupt_guard_condition_;
+  rcl_guard_condition_t interrupt_guard_condition_ = rcl_get_zero_initialized_guard_condition();
 
   /// Waitset for managing entities that the rmw layer waits on.
-  rcl_wait_set_t waitset_;
+  rcl_wait_set_t waitset_ = rcl_get_zero_initialized_wait_set();
 
   /// The memory strategy: an interface for handling user-defined memory allocation strategies.
   memory_strategy::MemoryStrategy::SharedPtr memory_strategy_;

rclcpp/include/rclcpp/node.hpp

@@ -271,7 +271,6 @@ class Node
 
   std::string name_;
 
-  //std::shared_ptr<rmw_node_t> node_handle_;
   std::shared_ptr<rcl_node_t> node_handle_;
 
   rclcpp::context::Context::SharedPtr context_;
@@ -289,7 +288,7 @@ class Node
   mutable std::mutex mutex_;
 
   /// Guard condition for notifying the Executor of changes to this node.
-  rcl_guard_condition_t notify_guard_condition_;
+  rcl_guard_condition_t notify_guard_condition_ = rcl_get_zero_initialized_guard_condition();
 
   std::map<std::string, rclcpp::parameter::ParameterVariant> parameters_;
 

rclcpp/include/rclcpp/node_impl.hpp

@@ -341,7 +341,8 @@ Node::create_service(
   service_options.qos = qos_profile;
 
   auto serv = service::Service<ServiceT>::make_shared(
-    node_handle_, service_name, any_service_callback, service_options);
+    node_handle_,
+    service_name, any_service_callback, service_options);
   auto serv_base_ptr = std::dynamic_pointer_cast<service::ServiceBase>(serv);
   if (group) {
     if (!group_in_node(group)) {

rclcpp/include/rclcpp/publisher.hpp

@@ -126,8 +126,8 @@ class PublisherBase
 
   std::shared_ptr<rcl_node_t> node_handle_;
 
-  rcl_publisher_t publisher_handle_;
-  rcl_publisher_t intra_process_publisher_handle_;
+  rcl_publisher_t publisher_handle_ = rcl_get_zero_initialized_publisher();
+  rcl_publisher_t intra_process_publisher_handle_ = rcl_get_zero_initialized_publisher();
   rcl_allocator_t rcl_allocator_;
 
   std::string topic_;
@@ -175,8 +175,12 @@ class Publisher : public PublisherBase
         rcl_get_error_string_safe());
     }
     // Life time of this object is tied to the publisher handle.
-    if (rmw_get_gid_for_publisher(
-      rcl_publisher_get_rmw_handle(&publisher_handle_), &rmw_gid_) != RMW_RET_OK)
+    rmw_publisher_t * publisher_rmw_handle = rcl_publisher_get_rmw_handle(&publisher_handle_);
+    if (!publisher_rmw_handle) {
+      throw std::runtime_error(
+        std::string("failed to get rmw handle: ") + rcl_get_error_string_safe());
+    }
+    if (rmw_get_gid_for_publisher(publisher_rmw_handle, &rmw_gid_) != RMW_RET_OK)
     {
       // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
       throw std::runtime_error(

rclcpp/include/rclcpp/subscription.hpp

@@ -103,8 +103,8 @@ class SubscriptionBase
     const rmw_message_info_t & message_info) = 0;
 
 protected:
-  rcl_subscription_t intra_process_subscription_handle_;
-  rcl_subscription_t subscription_handle_;
+  rcl_subscription_t intra_process_subscription_handle_ = rcl_get_zero_initialized_subscription();
+  rcl_subscription_t subscription_handle_ = rcl_get_zero_initialized_subscription();
   std::shared_ptr<rcl_node_t> node_handle_;
 
 private:

rclcpp/src/rclcpp/executor.cpp

@@ -52,7 +52,7 @@ Executor::Executor(const ExecutorArgs & args)
   memory_strategy_->add_guard_condition(&interrupt_guard_condition_);
 
   if (rcl_wait_set_init(
-    &waitset_, 0, 0, 0, 0, 0, rcl_get_default_allocator()) != RCL_RET_OK)
+    &waitset_, 0, 2, 0, 0, 0, rcl_get_default_allocator()) != RCL_RET_OK)
   {
     fprintf(stderr,
       "[rclcpp::error] failed to create waitset: %s\n", rcl_get_error_string_safe());
@@ -378,10 +378,8 @@ Executor::wait_for_work(std::chrono::nanoseconds timeout)
 
   rcl_ret_t status = rcl_wait(&waitset_, timeout.count());
   if (status != RCL_RET_OK && status != RCL_RET_TIMEOUT && status != RCL_RET_WAIT_SET_EMPTY) {
-    throw std::runtime_error(rcl_get_error_string_safe());
+    throw std::runtime_error(std::string("rcl_wait() failed: ") + rcl_get_error_string_safe());
   }
-
-
 }
 
 rclcpp::node::Node::SharedPtr

rclcpp/src/rclcpp/node.cpp

@@ -91,8 +91,7 @@ Node::Node(
   // Initialize node handle shared_ptr with custom deleter.
   // *INDENT-OFF*
   node_handle_.reset(&node, [](rcl_node_t * node) {
-    auto ret = rcl_node_fini(node);
-    if (ret != RMW_RET_OK) {
+    if (rcl_node_fini(node) != RMW_RET_OK) {
       fprintf(
         stderr, "Error in destruction of rmw node handle: %s\n", rcl_get_error_string_safe());
     }