Fix heap-use-after-free and memory leaks reported from test_node.cpp (#…

…719)

Fix AddressSanitizer errors reported by test_node.cpp unit test.

Signed-off-by: Prajakta Gokhale <prajaktg@amazon.com>
Signed-off-by: Siddharth Kucheria <kucheria@usc.edu>

rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp

@@ -493,10 +493,10 @@ NodeParameters::set_parameters_atomically(const std::vector<rclcpp::Parameter> &
     // assumption: the parameter to be undeclared should be in the parameter infos map
     assert(it != parameters_.end());
     if (it != parameters_.end()) {
-      // Remove it and update the parameter event message.
-      parameters_.erase(it);
+      // Update the parameter event message and remove it.
       parameter_event_msg.deleted_parameters.push_back(
         rclcpp::Parameter(it->first, it->second.value).to_parameter_msg());
+      parameters_.erase(it);
     }
   }
 

rclcpp/src/rclcpp/node_options.cpp

@@ -44,6 +44,9 @@ rcl_node_options_t_destructor(rcl_node_options_t * node_options)
         "failed to finalize rcl node options: %s", rcl_get_error_string().str);
       rcl_reset_error();
     }
+
+    delete node_options;
+    node_options = nullptr;
   }
 }
 }  // namespace detail