Document rmw_destroy_node may assume correct destruction order #216
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Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
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wjwwood
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Apr 21, 2020
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I looked at three rmw implementations,
rmw_fastrtps_shared_cpp,rmw_connect_shared_cpp, andrmw_cyclone_cpp, and it seems like they all assume higher layers destroy entities created from nodes before the node itself is destroyed. This PR documents that rmw implementations may assume this.This also adds an option for
rmwimplementations to choose to check that assumption and refuse to destroy the node if not all entities created from it have been destroyed. Normwimplementation does this, but I think it would be nice if one did to make it easier to catch destruction order bugs.Context: ros2/rcl#585
Another PR in
rcldocumenting that the destruction order responsibility belongs to the client libraries: ros2/rcl#625