ASAN error in rclcpp_action test_goal_handle

[y-okumura-isp]

Bug report

Required Info:

• Operating System:
  • Ubuntu 20.04
• Installation type:
  • build
• Version or commit hash:
  • 8d5af66
• DDS implementation:
  • FastDDS
• Client library (if applicable):
  • rclcpp_action

Steps to reproduce issue

Build with ASAN and run test_server_goal_handle.
In my environment, I got the following error.

$ ./build-asan/rclcpp_action/test_server_goal_handle 
Running main() from /src/ros2_rolling_asan/install-asan/gtest_vendor/src/gtest_vendor/src/gtest_main.cc
[==========] Running 6 tests from 1 test suite.
[----------] Global test environment set-up.
[----------] 6 tests from TestServerGoalHandle
[ RUN      ] TestServerGoalHandle.construct_destruct
[       OK ] TestServerGoalHandle.construct_destruct (1 ms)
[ RUN      ] TestServerGoalHandle.cancel
[       OK ] TestServerGoalHandle.cancel (0 ms)
[ RUN      ] TestServerGoalHandle.abort
[       OK ] TestServerGoalHandle.abort (1 ms)
[ RUN      ] TestServerGoalHandle.succeed
[       OK ] TestServerGoalHandle.succeed (0 ms)
[ RUN      ] TestServerGoalHandle.execute
[       OK ] TestServerGoalHandle.execute (0 ms)
[ RUN      ] TestServerGoalHandle.rcl_action_goal_handle_get_status_error
[       OK ] TestServerGoalHandle.rcl_action_goal_handle_get_status_error (0 ms)
[----------] 6 tests from TestServerGoalHandle (2 ms total)

[----------] Global test environment tear-down
[==========] 6 tests from 1 test suite ran. (2 ms total)
[  PASSED  ] 6 tests.

=================================================================
==4185==ERROR: LeakSanitizer: detected memory leaks

Direct leak of 432 byte(s) in 6 object(s) allocated from:
    #0 0x7f78696f1bc8 in malloc (/lib/x86_64-linux-gnu/libasan.so.5+0x10dbc8)
    #1 0x7f78694a52e6 in __default_allocate /src/ros2_rolling_asan/src/ros2/rcutils/src/allocator.c:37
    #2 0x7f78694f5656 in rcl_action_goal_handle_init /src/ros2_rolling_asan/src/ros2/rcl/rcl_action/src/rcl_action/goal_handle.c:59
    #3 0x5559f88fe502 in TestServerGoalHandle::SetUp() (/src/ros2_rolling_asan/build-asan/rclcpp_action/test_server_goal_handle+0x36502)
    #4 0x5559f89981ab in void testing::internal::HandleSehExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) /src/ros2_rolling_asan/install-asan/gtest_vendor/src/gtest_vendor/./src/gtest.cc:2433
    #5 0x5559f898820a in void testing::internal::HandleExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) /src/ros2_rolling_asan/install-asan/gtest_vendor/src/gtest_vendor/./src/gtest.cc:2469
    #6 0x5559f892ffcd in testing::Test::Run() /src/ros2_rolling_asan/install-asan/gtest_vendor/src/gtest_vendor/./src/gtest.cc:2503
    #7 0x5559f8931502 in testing::TestInfo::Run() /src/ros2_rolling_asan/install-asan/gtest_vendor/src/gtest_vendor/./src/gtest.cc:2684
    #8 0x5559f8932214 in testing::TestSuite::Run() /src/ros2_rolling_asan/install-asan/gtest_vendor/src/gtest_vendor/./src/gtest.cc:2816
    #9 0x5559f894ea9f in testing::internal::UnitTestImpl::RunAllTests() /src/ros2_rolling_asan/install-asan/gtest_vendor/src/gtest_vendor/./src/gtest.cc:5338
    #10 0x5559f899b6cf in bool testing::internal::HandleSehExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) /src/ros2_rolling_asan/install-asan/gtest_vendor/src/gtest_vendor/./src/gtest.cc:2433
    #11 0x5559f898ab43 in bool testing::internal::HandleExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) /src/ros2_rolling_asan/install-asan/gtest_vendor/src/gtest_vendor/./src/gtest.cc:2469
    #12 0x5559f894b58f in testing::UnitTest::Run() /src/ros2_rolling_asan/install-asan/gtest_vendor/src/gtest_vendor/./src/gtest.cc:4925
    #13 0x5559f891c236 in RUN_ALL_TESTS() /src/ros2_rolling_asan/install-asan/gtest_vendor/src/gtest_vendor/include/gtest/gtest.h:2473
    #14 0x5559f891c111 in main /src/ros2_rolling_asan/install-asan/gtest_vendor/src/gtest_vendor/src/gtest_main.cc:45
    #15 0x7f78690ad0b2 in __libc_start_main (/lib/x86_64-linux-gnu/libc.so.6+0x270b2)

SUMMARY: AddressSanitizer: 432 byte(s) leaked in 6 allocation(s).

Expected behavior

No leak.

Actual behavior

See above.

Additional information

By trace #3, it looks that rcl_handle is not finalized by rcl_action_goal_handle_fini.
This looks a purely test code issue.

class TestServerGoalHandle : public ::testing::Test
{
  void SetUp()
  {
    std::shared_ptr<rcl_action_goal_handle_t> rcl_handle =
      std::make_shared<rcl_action_goal_handle_t>();

    // snip. zero_initialize and init rcl_handle but not fini
  }
}