Fix use-after-free when a nodelet throws on initialization #122
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When a nodelet thrown on initialization while using a CallbackQueue (e.g. by having a subscriber), the nodelet was deleted before the CallbackQueue, resulting in a use-after-free of the nodelet when deleting the queue.
mjcarroll
approved these changes
Jan 9, 2024
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When a nodelet thrown on initialization while using a CallbackQueue (e.g. by having a subscriber), the nodelet was deleted after the CallbackQueue, resulting in a use-after-free of the queue when deleting the nodelet.
This was because the NodeletPtr in
Loader::loadwas deleted after theManagedNodelet, which holds the CallbackQueues. Fix this by moving the NodeletPtr into the ManagedNodelet.We also could call
NodeletPtr::resetin the catch.Closes #121.