Return service from node_type_description_service_init #1112
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This makes the caller responsible for cleaning up the service. Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai>
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Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai>
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Oct 27, 2023
Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai>
Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai>
Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai>
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This was referenced Oct 28, 2023
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One more run after some rebase/force-push:
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This was referenced Oct 30, 2023
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This changes the mechanism of
rcl_node_type_description_service_initto populate a user-provided service.This makes it the calling user's responsibility to call
rcl_service_finion the returned service, making it more in line with the rest of therclAPI.This was discovered when working with the new
rclcpp::WaitSetimplementation.The main issue is that the executor needs to share ownership with objects that it is
wait-ing on for the entire duration of thewait, even if a node is removed from the executor at that time. That is, the executor doesn't have knowledge of the nodes so much as the waitable objects in the collection.In this current implementation, the type_description was being
fini-ed during theNodeTypeDescriptionsdestructor here: https://github.com/ros2/rclcpp/blob/fcbe64cff4bea3109531254ceb2955dc4b1bb320/rclcpp/src/rclcpp/node_interfaces/node_type_descriptions.cpp#L128-L139. This could cause a situation where a service is cleaned up while we are still waiting on it, and yields a segfault afterwards.After discussion with @clalancette, it seems the better approach is to have the user init the service and then be responsible for managing the lifetime of that service through their client library (eg
rclcpp::Service)