Fix geometric shapes related memory leaks #2138
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rhaschke
requested changes
Jun 2, 2020
moveit_core/collision_distance_field/src/collision_distance_field_types.cpp
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| @@ -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.
Codecov Report
@@ Coverage Diff @@
## master #2138 +/- ##
==========================================
- Coverage 57.79% 57.79% -0.01%
==========================================
Files 328 328
Lines 25700 25700
==========================================
- Hits 14854 14853 -1
- Misses 10846 10847 +1
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JStech
approved these changes
Jun 3, 2020
rhaschke
approved these changes
Jun 3, 2020
v4hn
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Jul 3, 2020
* Fix memory leak with a shape object when malformed scene geometry file is loaded. * Fix memory leak by removing unnecessary and leaky call to clone() (cherry picked from commit 9bdce08)
v4hn
pushed a commit
to v4hn/moveit
that referenced
this pull request
Jul 3, 2020
* Fix memory leak with a shape object when malformed scene geometry file is loaded. * Fix memory leak by removing unnecessary and leaky call to clone() (cherry picked from commit 9bdce08)
rhaschke
pushed a commit
that referenced
this pull request
Jul 3, 2020
* Fix memory leak with a shape object when malformed scene geometry file is loaded. * Fix memory leak by removing unnecessary and leaky call to clone() (cherry picked from commit 9bdce08)
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Couple fixes to memory leaks caused by raw pointer usage with
geometric_shapesobjects.These fixes are related to the efforts and finding in this issue #2075. However, this PR does not fix the leaks reported by @tylerjw, but rather these are new findings made using address sanitizer.
Running address sanitizer revealed couple memory leaks related raw pointer usage with
geometric_shapesobjects. I added two fixes to this PR since they are both very small.First fix is wrapping return value of
shapes::constructShapeFromText(in)in shared_ptr so that if the geometry being loaded is corrupted or malformed, the constructed shape will always be freed undepending on the code path.Second fix is removing call to
clone()inBodyDecomposition::init(). Prior to the fix, each of the cloned objects was heap allocated and raw pointer was passed toaddBodywithout calling free on the objects at any point, which caused every single object to leak. Looking more closely at theaddBodyfunction I realized that there doesn't seem to be any reason to call clone there so I removed the operation altogether. Now, the raw pointers passed to the function point to theshared_ptr<Shape>objects which will get freed correctly eventually thanks to reference counting.