Don't use a weak_ptr to avoid leaking

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
ros2 · May 12, 2021 · cb820ff · cb820ff
1 parent 72443ff
commit cb820ff
Showing 1 changed file with 7 additions and 15 deletions.
diff --git a/rclcpp/include/rclcpp/service.hpp b/rclcpp/include/rclcpp/service.hpp
@@ -180,22 +180,14 @@ class Service : public ServiceBase
     std::weak_ptr<rcl_node_t> weak_node_handle(node_handle_);
     // rcl does the static memory allocation here
     service_handle_ = std::shared_ptr<rcl_service_t>(
-      new rcl_service_t, [weak_node_handle, service_name](rcl_service_t * service)
+      new rcl_service_t, [handle = node_handle_, service_name](rcl_service_t * service)
       {
-        auto handle = weak_node_handle.lock();
-        if (handle) {
-          if (rcl_service_fini(service, handle.get()) != RCL_RET_OK) {
-            RCLCPP_ERROR(
-              rclcpp::get_node_logger(handle.get()).get_child("rclcpp"),
-              "Error in destruction of rcl service handle: %s",
-              rcl_get_error_string().str);
-            rcl_reset_error();
-          }
-        } else {
-          RCLCPP_ERROR_STREAM(
-            rclcpp::get_logger("rclcpp"),
-            "Error in destruction of rcl service handle " << service_name <<
-              ": the Node Handle was destructed too early. You will leak memory");
+        if (rcl_service_fini(service, handle.get()) != RCL_RET_OK) {
+          RCLCPP_ERROR(
+            rclcpp::get_node_logger(handle.get()).get_child("rclcpp"),
+            "Error in destruction of rcl service handle: %s",
+            rcl_get_error_string().str);
+          rcl_reset_error();
         }
         delete service;
       });