Change the not_composable example to destroy subscription first. #210
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We are seeing the following message when hitting Ctrl-C in the subscriber not_composable node: [ERROR] [rclcpp]: Error in destruction of rcl subscription handle: the Node Handle was destructed too early. You will leak memory The problem is that setting g_node to nullptr causes the node destructor to be run before the subscriber is destructed. Due to another bug, we can't just remove that assignment, so instead we make it all locally scoped in main for now, which works around the problem. Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
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clalancette
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wjwwood
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Jun 22, 2018
| /* We do not recommend this style anymore, because composition of multiple | ||
| * nodes in the same executable is not possible. Please see one of the subclass | ||
| * examples for the "new" recommended styles. This example is only included | ||
| * for completeness because it is similar to "classic" standalone ROS nodes. */ | ||
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| void topic_callback(const std_msgs::msg::String::SharedPtr msg) | ||
| { | ||
| RCLCPP_INFO(g_node->get_logger(), "I heard: '%s'", msg->data.c_str()) | ||
| RCLCPP_INFO(rclcpp::get_logger("minimal_subscriber"), "I heard: '%s'", msg->data.c_str()) |
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This is not the same thing. This function actually does need the node instance to maintain the existing behavior (and the existing behavior is the desired behavior in my opinion).
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All right, in that case, I've changed it to manually destroy the subscription first, which achieves the same effect. I've also updated the comment. Please take another look when you get a chance.
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
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CI for the new code:
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clalancette
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wjwwood
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Jun 25, 2018
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We are seeing the following message when hitting Ctrl-C
in the subscriber not_composable node:
[ERROR] [rclcpp]: Error in destruction of rcl subscription handle: the Node Handle was destructed too early. You will leak memory
The problem is that setting g_node to nullptr causes the
node destructor to be run before the subscriber is destructed.
Due to another bug, we can't just remove that assignment, so
instead we make it all locally scoped in main for now, which
works around the problem.
Signed-off-by: Chris Lalancette clalancette@openrobotics.org
This worksaround #209