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Avoid returning loan when none was obtained #1629

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Apr 14, 2021
Merged

Avoid returning loan when none was obtained #1629

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20 changes: 11 additions & 9 deletions rclcpp/src/rclcpp/executor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -610,16 +610,18 @@ Executor::execute_subscription(rclcpp::SubscriptionBase::SharedPtr subscription)
return true;
},
[&]() {subscription->handle_loaned_message(loaned_msg, message_info);});
rcl_ret_t ret = rcl_return_loaned_message_from_subscription(
subscription->get_subscription_handle().get(),
loaned_msg);
if (RCL_RET_OK != ret) {
RCLCPP_ERROR(
rclcpp::get_logger("rclcpp"),
"rcl_return_loaned_message_from_subscription() failed for subscription on topic '%s': %s",
subscription->get_topic_name(), rcl_get_error_string().str);
if (nullptr != loaned_msg) {
rcl_ret_t ret = rcl_return_loaned_message_from_subscription(
subscription->get_subscription_handle().get(),
loaned_msg);
if (RCL_RET_OK != ret) {
RCLCPP_ERROR(
rclcpp::get_logger("rclcpp"),
"rcl_return_loaned_message_from_subscription() failed for subscription on topic '%s': %s",
subscription->get_topic_name(), rcl_get_error_string().str);
}
loaned_msg = nullptr;
}
loaned_msg = nullptr;
} else {
// This case is taking a copy of the message data from the middleware via
// inter-process communication.
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