user defined allocator should be used for rosout publisher.

[fujitatomoya]

address #1040

[jrutgeer]

@fujitatomoya
I am not sure what is the best option:

• The patch you propose uses the allocator from the nodeoptions,
• However, you could also use __rosout_allocator, which is the allocator passed to rcl_logging_rosout_init:

rcl/rcl/src/rcl/logging_rosout.c

Line 89 in d15594e

rcl_ret_t rcl_logging_rosout_init(const rcl_allocator_t * allocator)

rcl/rcl/src/rcl/logging_rosout.c

Line 121 in d15594e

__rosout_allocator = *allocator;

I assume it makes sense to use the allocator from the nodeoptions, since there could be realtime and non-realtime nodes in one process?

[fujitatomoya]

yeah i thought that too, probably __rosout_allocator is meant to be used to operate related objects but not endpoints. I think allocator from NodeOption makes sense to manage publisher endpoint. (I think that user would expect.)

we can keep this open to get more feedback!

[fujitatomoya]

@clalancette minor fix, what do you think? i would like to hear your comment on this before CI.

[fujitatomoya]

@iuhilnehc-ynos what do you think about this?

[iuhilnehc-ynos]

LGTM

[fujitatomoya]

CI:

• Linux
• Linux-aarch64
• Windows

[fujitatomoya]

This should be backport to humble.

[fujitatomoya]

@Mergifyio backport humble

[mergify]

backport humble

✅ Backports have been created

• #1045 user defined allocator should be used for rosout publisher. (backport #1044) has been created for branch humble