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node_handle must be destroyed after client_handle to prevent memory leak #1562

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Merged
fujitatomoya merged 1 commit into from
Feb 25, 2021
Merged

node_handle must be destroyed after client_handle to prevent memory leak #1562

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3 changes: 2 additions & 1 deletion rclcpp_action/src/client.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -102,8 +102,9 @@ class ClientBaseImpl

rclcpp::Context::SharedPtr context_;
rclcpp::node_interfaces::NodeGraphInterface::WeakPtr node_graph_;
std::shared_ptr<rcl_action_client_t> client_handle{nullptr};
// node_handle must be destroyed after client_handle to prevent memory leak
std::shared_ptr<rcl_node_t> node_handle{nullptr};
std::shared_ptr<rcl_action_client_t> client_handle{nullptr};
rclcpp::Logger logger;

using ResponseCallback = std::function<void (std::shared_ptr<void> response)>;
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