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Fix geometric shapes related memory leaks #2138

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merged 2 commits into from
Jun 3, 2020
Merged

Fix geometric shapes related memory leaks #2138

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84cea3d
Fix memory leak with a shape object when malformed scene geometry fil…
jliukkonen Jun 2, 2020
e99eecd
Fix memory leak by removing unnecessary and leaky call to clone()
jliukkonen Jun 2, 2020
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2 changes: 1 addition & 1 deletion moveit_core/collision_distance_field/src/collision_distance_field_types.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -280,7 +280,7 @@ void collision_detection::BodyDecomposition::init(const std::vector<shapes::Shap
bodies_.clear();
for (unsigned int i = 0; i < shapes.size(); i++)
{
bodies_.addBody(shapes[i]->clone(), poses[i], padding);
bodies_.addBody(shapes[i].get(), poses[i], padding);
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}

// collecting collision spheres
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8 changes: 4 additions & 4 deletions moveit_core/planning_scene/src/planning_scene.cpp
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Expand Up @@ -1018,8 +1018,8 @@ bool PlanningScene::loadGeometryFromStream(std::istream& in, const Eigen::Isomet
in >> shape_count;
for (std::size_t i = 0; i < shape_count && in.good() && !in.eof(); ++i)
{
shapes::Shape* s = shapes::constructShapeFromText(in);
if (!s)
const auto shape = shapes::ShapeConstPtr(shapes::constructShapeFromText(in));
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These changes are reasonable.

if (!shape)
{
ROS_ERROR_NAMED(LOGNAME, "Failed to load shape from scene file");
return false;
Expand All @@ -1041,12 +1041,12 @@ bool PlanningScene::loadGeometryFromStream(std::istream& in, const Eigen::Isomet
ROS_ERROR_NAMED(LOGNAME, "Improperly formatted color in scene geometry file");
return false;
}
if (s)
if (shape)
{
Eigen::Isometry3d pose = Eigen::Translation3d(x, y, z) * Eigen::Quaterniond(rw, rx, ry, rz);
// Transform pose by input pose offset
pose = offset * pose;
world_->addToObject(ns, shapes::ShapePtr(s), pose);
world_->addToObject(ns, shape, pose);
if (r > 0.0f || g > 0.0f || b > 0.0f || a > 0.0f)
{
std_msgs::ColorRGBA color;
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