add rclcpp::shutdown() function #17

dirk-thomas · 2015-03-27T19:23:44Z

Connects to ros2/ros2#4

Required for ros2/examples#7.

wjwwood · 2015-03-27T19:41:46Z

+1

tfoote · 2015-03-27T20:03:03Z

lgtm

esteve · 2015-03-28T02:03:00Z

+1

add rclcpp::shutdown() function

When undeclaring a parameter, the current implementation acccesses already freed memory. This commit contains the minimal change to solve this isue. Before this fix: Running main() from ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest_main.cc Note: Google Test filter = TestNode.set_parameter_undeclared_parameters_not_allowed [==========] Running 1 test from 1 test case. [----------] Global test environment set-up. [----------] 1 test from TestNode [ RUN ] TestNode.set_parameter_undeclared_parameters_not_allowed ================================================================= ==14634==ERROR: AddressSanitizer: heap-use-after-free on address 0x614000008070 at pc 0x7f90d5eb2733 bp 0x7ffc79e38d00 sp 0x7ffc79e384a8 READ of size 12 at 0x614000008070 thread T0 #0 0x7f90d5eb2732 (/usr/lib/x86_64-linux-gnu/libasan.so.4+0x79732) #1 0x555823664ce8 in void std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::_M_construct<char*>(char*, char*, std::forward_iterator_tag) (/home/ANT.AMAZON.COM/tmoulard/ros2_ws/build-asan/rclcpp/test_node+0xface8) #2 0x7f90d57c70d3 in rclcpp::Parameter::Parameter(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::ParameterValue const&) ../../src/ros2/rclcpp/rclcpp/src/rclcpp/parameter.cpp:49 #3 0x7f90d577fbe6 in rclcpp::node_interfaces::NodeParameters::set_parameters_atomically(std::vector<rclcpp::Parameter, std::allocator<rclcpp::Parameter> > const&) ../../src/ros2/rclcpp/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp:499 #4 0x7f90d573d8b9 in rclcpp::Node::set_parameters_atomically(std::vector<rclcpp::Parameter, std::allocator<rclcpp::Parameter> > const&) ../../src/ros2/rclcpp/rclcpp/src/rclcpp/node.cpp:271 #5 0x7f90d573d4ac in rclcpp::Node::set_parameter(rclcpp::Parameter const&) ../../src/ros2/rclcpp/rclcpp/src/rclcpp/node.cpp:259 #6 0x5558235e1c0d in TestNode_set_parameter_undeclared_parameters_not_allowed_Test::TestBody() ../../src/ros2/rclcpp/rclcpp/test/test_node.cpp:694 #7 0x5558236fc2cf in void testing::internal::HandleSehExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2447 #8 0x5558236eed3b in void testing::internal::HandleExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2483 ros2#9 0x55582369c94b in testing::Test::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2522 ros2#10 0x55582369dd76 in testing::TestInfo::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2703 ros2#11 0x55582369e91a in testing::TestCase::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2825 ros2#12 0x5558236b9a2b in testing::internal::UnitTestImpl::RunAllTests() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:5216 ros2#13 0x5558236fed74 in bool testing::internal::HandleSehExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2447 ros2#14 0x5558236f1004 in bool testing::internal::HandleExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2483 ros2#15 0x5558236b67bf in testing::UnitTest::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:4824 ros2#16 0x555823689d0e in RUN_ALL_TESTS() ../../../install-asan/gtest_vendor/src/gtest_vendor/include/gtest/gtest.h:2370 ros2#17 0x555823689c54 in main ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest_main.cc:36 ros2#18 0x7f90d4768b96 in __libc_start_main (/lib/x86_64-linux-gnu/libc.so.6+0x21b96) ros2#19 0x5558235b07d9 in _start (/home/ANT.AMAZON.COM/tmoulard/ros2_ws/build-asan/rclcpp/test_node+0x467d9) 0x614000008070 is located 48 bytes inside of 416-byte region [0x614000008040,0x6140000081e0) freed by thread T0 here: #0 0x7f90d5f1a2d0 in operator delete(void*) (/usr/lib/x86_64-linux-gnu/libasan.so.4+0xe12d0) #1 0x7f90d57abd0f in __gnu_cxx::new_allocator<std::_Rb_tree_node<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > >::deallocate(std::_Rb_tree_node<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >*, unsigned long) /usr/include/c++/7/ext/new_allocator.h:125 #2 0x7f90d57a8908 in std::allocator_traits<std::allocator<std::_Rb_tree_node<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > > >::deallocate(std::allocator<std::_Rb_tree_node<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > >&, std::_Rb_tree_node<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >*, unsigned long) /usr/include/c++/7/bits/alloc_traits.h:462 #3 0x7f90d57a133c in std::_Rb_tree<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo>, std::_Select1st<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > >::_M_put_node(std::_Rb_tree_node<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >*) /usr/include/c++/7/bits/stl_tree.h:592 #4 0x7f90d5796abd in std::_Rb_tree<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo>, std::_Select1st<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > >::_M_drop_node(std::_Rb_tree_node<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >*) /usr/include/c++/7/bits/stl_tree.h:659 #5 0x7f90d579d3d4 in std::_Rb_tree<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo>, std::_Select1st<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > >::_M_erase_aux(std::_Rb_tree_const_iterator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >) /usr/include/c++/7/bits/stl_tree.h:2477 #6 0x7f90d5792213 in std::_Rb_tree<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo>, std::_Select1st<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > >::erase[abi:cxx11](std::_Rb_tree_iterator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >) /usr/include/c++/7/bits/stl_tree.h:1125 #7 0x7f90d5789f68 in std::map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, rclcpp::node_interfaces::ParameterInfo, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > >::erase[abi:cxx11](std::_Rb_tree_iterator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >) (/home/ANT.AMAZON.COM/tmoulard/ros2_ws/install-asan/rclcpp/lib/librclcpp.so+0x491f68) #8 0x7f90d577fb2a in rclcpp::node_interfaces::NodeParameters::set_parameters_atomically(std::vector<rclcpp::Parameter, std::allocator<rclcpp::Parameter> > const&) ../../src/ros2/rclcpp/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp:497 ros2#9 0x7f90d573d8b9 in rclcpp::Node::set_parameters_atomically(std::vector<rclcpp::Parameter, std::allocator<rclcpp::Parameter> > const&) ../../src/ros2/rclcpp/rclcpp/src/rclcpp/node.cpp:271 ros2#10 0x7f90d573d4ac in rclcpp::Node::set_parameter(rclcpp::Parameter const&) ../../src/ros2/rclcpp/rclcpp/src/rclcpp/node.cpp:259 ros2#11 0x5558235e1c0d in TestNode_set_parameter_undeclared_parameters_not_allowed_Test::TestBody() ../../src/ros2/rclcpp/rclcpp/test/test_node.cpp:694 ros2#12 0x5558236fc2cf in void testing::internal::HandleSehExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2447 ros2#13 0x5558236eed3b in void testing::internal::HandleExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2483 ros2#14 0x55582369c94b in testing::Test::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2522 ros2#15 0x55582369dd76 in testing::TestInfo::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2703 ros2#16 0x55582369e91a in testing::TestCase::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2825 ros2#17 0x5558236b9a2b in testing::internal::UnitTestImpl::RunAllTests() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:5216 ros2#18 0x5558236fed74 in bool testing::internal::HandleSehExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2447 ros2#19 0x5558236f1004 in bool testing::internal::HandleExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2483 ros2#20 0x5558236b67bf in testing::UnitTest::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:4824 ros2#21 0x555823689d0e in RUN_ALL_TESTS() ../../../install-asan/gtest_vendor/src/gtest_vendor/include/gtest/gtest.h:2370 ros2#22 0x555823689c54 in main ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest_main.cc:36 ros2#23 0x7f90d4768b96 in __libc_start_main (/lib/x86_64-linux-gnu/libc.so.6+0x21b96) previously allocated by thread T0 here: #0 0x7f90d5f19458 in operator new(unsigned long) (/usr/lib/x86_64-linux-gnu/libasan.so.4+0xe0458) #1 0x7f90d57aceba in __gnu_cxx::new_allocator<std::_Rb_tree_node<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > >::allocate(unsigned long, void const*) /usr/include/c++/7/ext/new_allocator.h:111 #2 0x7f90d57a9c4c in std::allocator_traits<std::allocator<std::_Rb_tree_node<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > > >::allocate(std::allocator<std::_Rb_tree_node<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > >&, unsigned long) (/home/ANT.AMAZON.COM/tmoulard/ros2_ws/install-asan/rclcpp/lib/librclcpp.so+0x4b1c4c) #3 0x7f90d57a3f6e in std::_Rb_tree<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo>, std::_Select1st<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > >::_M_get_node() (/home/ANT.AMAZON.COM/tmoulard/ros2_ws/install-asan/rclcpp/lib/librclcpp.so+0x4abf6e) #4 0x7f90d5799770 in std::_Rb_tree_node<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >* std::_Rb_tree<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo>, std::_Select1st<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > >::_M_create_node<std::piecewise_construct_t const&, std::tuple<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&>, std::tuple<> >(std::piecewise_construct_t const&, std::tuple<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&>&&, std::tuple<>&&) (/home/ANT.AMAZON.COM/tmoulard/ros2_ws/install-asan/rclcpp/lib/librclcpp.so+0x4a1770) #5 0x7f90d578f382 in std::_Rb_tree_iterator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > std::_Rb_tree<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo>, std::_Select1st<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > >::_M_emplace_hint_unique<std::piecewise_construct_t const&, std::tuple<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&>, std::tuple<> >(std::_Rb_tree_const_iterator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >, std::piecewise_construct_t const&, std::tuple<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&>&&, std::tuple<>&&) /usr/include/c++/7/bits/stl_tree.h:2398 #6 0x7f90d5788eba in std::map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, rclcpp::node_interfaces::ParameterInfo, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > >::operator[](std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) /usr/include/c++/7/bits/stl_map.h:493 #7 0x7f90d577bc88 in __declare_parameter_common(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::ParameterValue const&, rcl_interfaces::msg::ParameterDescriptor_<std::allocator<void> > const&, std::map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, rclcpp::node_interfaces::ParameterInfo, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > >&, std::map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, rclcpp::ParameterValue, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::ParameterValue> > > const&, std::function<rcl_interfaces::msg::SetParametersResult_<std::allocator<void> > (std::vector<rclcpp::Parameter, std::allocator<rclcpp::Parameter> > const&)>, rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >*) ../../src/ros2/rclcpp/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp:250 #8 0x7f90d577c4f7 in rclcpp::node_interfaces::NodeParameters::declare_parameter(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::ParameterValue const&, rcl_interfaces::msg::ParameterDescriptor_<std::allocator<void> > const&) ../../src/ros2/rclcpp/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp:287 ros2#9 0x7f90d573d1ec in rclcpp::Node::declare_parameter(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::ParameterValue const&, rcl_interfaces::msg::ParameterDescriptor_<std::allocator<void> > const&) ../../src/ros2/rclcpp/rclcpp/src/rclcpp/node.cpp:241 ros2#10 0x555823645b6b in auto rclcpp::Node::declare_parameter<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int const&, rcl_interfaces::msg::ParameterDescriptor_<std::allocator<void> > const&) (/home/ANT.AMAZON.COM/tmoulard/ros2_ws/build-asan/rclcpp/test_node+0xdbb6b) ros2#11 0x5558235e14ee in TestNode_set_parameter_undeclared_parameters_not_allowed_Test::TestBody() ../../src/ros2/rclcpp/rclcpp/test/test_node.cpp:689 ros2#12 0x5558236fc2cf in void testing::internal::HandleSehExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2447 ros2#13 0x5558236eed3b in void testing::internal::HandleExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2483 ros2#14 0x55582369c94b in testing::Test::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2522 ros2#15 0x55582369dd76 in testing::TestInfo::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2703 ros2#16 0x55582369e91a in testing::TestCase::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2825 ros2#17 0x5558236b9a2b in testing::internal::UnitTestImpl::RunAllTests() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:5216 ros2#18 0x5558236fed74 in bool testing::internal::HandleSehExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2447 ros2#19 0x5558236f1004 in bool testing::internal::HandleExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2483 ros2#20 0x5558236b67bf in testing::UnitTest::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:4824 ros2#21 0x555823689d0e in RUN_ALL_TESTS() ../../../install-asan/gtest_vendor/src/gtest_vendor/include/gtest/gtest.h:2370 ros2#22 0x555823689c54 in main ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest_main.cc:36 ros2#23 0x7f90d4768b96 in __libc_start_main (/lib/x86_64-linux-gnu/libc.so.6+0x21b96) SUMMARY: AddressSanitizer: heap-use-after-free (/usr/lib/x86_64-linux-gnu/libasan.so.4+0x79732) Shadow bytes around the buggy address: 0x0c287fff8fb0: 00 00 00 00 00 00 00 00 00 00 00 00 fa fa fa fa 0x0c287fff8fc0: fa fa fa fa fa fa fa fa fd fd fd fd fd fd fd fd 0x0c287fff8fd0: fd fd fd fd fd fd fd fd fd fd fd fd fd fd fd fd 0x0c287fff8fe0: fd fd fd fd fd fd fd fd fd fd fd fd fd fd fd fd 0x0c287fff8ff0: fd fd fd fd fd fd fd fd fd fd fd fd fa fa fa fa =>0x0c287fff9000: fa fa fa fa fa fa fa fa fd fd fd fd fd fd[fd]fd 0x0c287fff9010: fd fd fd fd fd fd fd fd fd fd fd fd fd fd fd fd 0x0c287fff9020: fd fd fd fd fd fd fd fd fd fd fd fd fd fd fd fd 0x0c287fff9030: fd fd fd fd fd fd fd fd fd fd fd fd fa fa fa fa 0x0c287fff9040: fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa 0x0c287fff9050: fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa Shadow byte legend (one shadow byte represents 8 application bytes): Addressable: 00 Partially addressable: 01 02 03 04 05 06 07 Heap left redzone: fa Freed heap region: fd Stack left redzone: f1 Stack mid redzone: f2 Stack right redzone: f3 Stack after return: f5 Stack use after scope: f8 Global redzone: f9 Global init order: f6 Poisoned by user: f7 Container overflow: fc Array cookie: ac Intra object redzone: bb ASan internal: fe Left alloca redzone: ca Right alloca redzone: cb ==14634==ABORTING After this fix: Running main() from ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest_main.cc Note: Google Test filter = TestNode.set_parameter_undeclared_parameters_not_allowed [==========] Running 1 test from 1 test case. [----------] Global test environment set-up. [----------] 1 test from TestNode [ RUN ] TestNode.set_parameter_undeclared_parameters_not_allowed [ OK ] TestNode.set_parameter_undeclared_parameters_not_allowed (51 ms) [----------] 1 test from TestNode (51 ms total) [----------] Global test environment tear-down [==========] 1 test from 1 test case ran. (51 ms total) [ PASSED ] 1 test. ================================================================= ==8511==ERROR: LeakSanitizer: detected memory leaks Direct leak of 64 byte(s) in 1 object(s) allocated from: #0 0x7f49af480458 in operator new(unsigned long) (/usr/lib/x86_64-linux-gnu/libasan.so.4+0xe0458) #1 0x7f49aecb6b21 in rclcpp::NodeOptions::get_rcl_node_options() const ../../src/ros2/rclcpp/rclcpp/src/rclcpp/node_options.cpp:84 #2 0x7f49aeca1e63 in rclcpp::Node::Node(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::NodeOptions const&) ../../src/ros2/rclcpp/rclcpp/src/rclcpp/node.cpp:115 #3 0x7f49aeca1a34 in rclcpp::Node::Node(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::NodeOptions const&) ../../src/ros2/rclcpp/rclcpp/src/rclcpp/node.cpp:103 #4 0x55ee8e2e4473 in void __gnu_cxx::new_allocator<rclcpp::Node>::construct<rclcpp::Node, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, rclcpp::NodeOptions&>(rclcpp::Node*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&&, rclcpp::NodeOptions&) (/home/ANT.AMAZON.COM/tmoulard/ros2_ws/build-asan/rclcpp/test_no de+0x10e473) #5 0x55ee8e2de58f in void std::allocator_traits<std::allocator<rclcpp::Node> >::construct<rclcpp::Node, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, rclcpp::NodeOptions&>(std::allocator<rclcpp::Node>&, rclcpp::Node*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&&, rclcpp::NodeOptions&) (/home/ANT.AMAZON.C OM/tmoulard/ros2_ws/build-asan/rclcpp/test_node+0x10858f) #6 0x55ee8e2da516 in std::_Sp_counted_ptr_inplace<rclcpp::Node, std::allocator<rclcpp::Node>, (__gnu_cxx::_Lock_policy)2>::_Sp_counted_ptr_inplace<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, rclcpp::NodeOptions&>(std::allocator<rclcpp::Node>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&&, rclcpp::NodeOp tions&) (/home/ANT.AMAZON.COM/tmoulard/ros2_ws/build-asan/rclcpp/test_node+0x104516) #7 0x55ee8e2d25b2 in std::__shared_count<(__gnu_cxx::_Lock_policy)2>::__shared_count<rclcpp::Node, std::allocator<rclcpp::Node>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, rclcpp::NodeOptions&>(std::_Sp_make_shared_tag, rclcpp::Node*, std::allocator<rclcpp::Node> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::alloc ator<char> >&&, rclcpp::NodeOptions&) (/home/ANT.AMAZON.COM/tmoulard/ros2_ws/build-asan/rclcpp/test_node+0xfc5b2) #8 0x55ee8e2c84da in std::__shared_ptr<rclcpp::Node, (__gnu_cxx::_Lock_policy)2>::__shared_ptr<std::allocator<rclcpp::Node>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, rclcpp::NodeOptions&>(std::_Sp_make_shared_tag, std::allocator<rclcpp::Node> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&&, rcl cpp::NodeOptions&) (/home/ANT.AMAZON.COM/tmoulard/ros2_ws/build-asan/rclcpp/test_node+0xf24da) ros2#9 0x55ee8e2bfd60 in std::shared_ptr<rclcpp::Node>::shared_ptr<std::allocator<rclcpp::Node>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, rclcpp::NodeOptions&>(std::_Sp_make_shared_tag, std::allocator<rclcpp::Node> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&&, rclcpp::NodeOptions&) (/home/ANT.AM AZON.COM/tmoulard/ros2_ws/build-asan/rclcpp/test_node+0xe9d60) ros2#10 0x55ee8e2b6b18 in std::shared_ptr<rclcpp::Node> std::allocate_shared<rclcpp::Node, std::allocator<rclcpp::Node>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, rclcpp::NodeOptions&>(std::allocator<rclcpp::Node> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&&, rclcpp::NodeOptions&) (/home/ANT.AMAZ ON.COM/tmoulard/ros2_ws/build-asan/rclcpp/test_node+0xe0b18) ros2#11 0x55ee8e2ad89e in std::shared_ptr<rclcpp::Node> std::make_shared<rclcpp::Node, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, rclcpp::NodeOptions&>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&&, rclcpp::NodeOptions&) (/home/ANT.AMAZON.COM/tmoulard/ros2_ws/build-asan/rclcpp/test_node+0xd789e) ros2#12 0x55ee8e245438 in TestNode_set_parameter_undeclared_parameters_not_allowed_Test::TestBody() ../../src/ros2/rclcpp/rclcpp/test/test_node.cpp:607 ros2#13 0x55ee8e35d111 in void testing::internal::HandleSehExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2447 ros2#14 0x55ee8e34fb7d in void testing::internal::HandleExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2483 ros2#15 0x55ee8e2fd78d in testing::Test::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2522 ros2#16 0x55ee8e2febb8 in testing::TestInfo::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2703 ros2#17 0x55ee8e2ff75c in testing::TestCase::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2825 ros2#18 0x55ee8e31a86d in testing::internal::UnitTestImpl::RunAllTests() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:5216 ros2#19 0x55ee8e35fbb6 in bool testing::internal::HandleSehExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2447 ros2#20 0x55ee8e351e46 in bool testing::internal::HandleExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2483 ros2#21 0x55ee8e317601 in testing::UnitTest::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:4824 ros2#22 0x55ee8e2eab50 in RUN_ALL_TESTS() ../../../install-asan/gtest_vendor/src/gtest_vendor/include/gtest/gtest.h:2370 ros2#23 0x55ee8e2eaa96 in main ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest_main.cc:36 ros2#24 0x7f49adccfb96 in __libc_start_main (/lib/x86_64-linux-gnu/libc.so.6+0x21b96) SUMMARY: AddressSanitizer: 64 byte(s) leaked in 1 allocation(s). Note: after this fix, get_rcl_node_options() still leak. This is a problem independent from this issue and will be solved independently. Signed-off-by: Thomas Moulard <tmoulard@amazon.com>

minor cleanup of comments and spin_some timeout

* Tests fix Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar> * Tests fix Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar> * Fixed some tests Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar> * Fix test_intra_process_manager test. Signed-off-by: Chris Lalancette <clalancette@openrobotics.org> * Style fixups. Signed-off-by: Chris Lalancette <clalancette@openrobotics.org> * One more small fix. Signed-off-by: Chris Lalancette <clalancette@openrobotics.org> * Fixed issues with allocators Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar> * Small fix for lint_cmake. Signed-off-by: Chris Lalancette <clalancette@openrobotics.org> Co-authored-by: Chris Lalancette <clalancette@openrobotics.org> Add additional tests for the TypeAdapt conversions (ros2#16) * Implement skipping ROS conversion when using the const ref publish. Signed-off-by: Chris Lalancette <clalancette@openrobotics.org> * Add tests to ensure that type adaptation doesn't unnecessarily convert. Signed-off-by: Chris Lalancette <clalancette@openrobotics.org> fixed allocator allocate usage on intra process manager (ros2#17) Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar> Removed TestPublisher.conversion_exception_is_passed_up test Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar>

Fix "function declaration isn't a prototype" warnings

* ros2GH-118 Rename rosbag2_storage::TopicMetadata to TopicInformation and rosbag2_storage::TopicwithType to TopicMetadata - The former TopicWithTye struct will be enlarged to contain also the rmw serialization format relative to the topic. This is why the name 'TopicMetadata' is now better suited for it. * ros2GH-17 Rename timestamp to time_stamp for consistency in types * Fix renaming of TopicWithType to TopicMetadata * formatting * pass by const ref

* ros2GH-118 Make rosbag2::Writer use converters - Use converters in Writer::write() when input rmw serialization format is different from desired storage serialization format - Add new field in rosbag2::StorageOptions to keep track of the rmw format given by the user to store the message in * ros2GH-118 Add --encoding option to ros2 bag record * ros2GH-118 Associate to each topic its rmw_serialization_format - Add 'serialization_format' field to TopicMetadata - Add 'serialization_forat' column in 'topics' table in sqlite storage - Remove 'storage_format' from BagMetadata and use the TopicMetadata field directly, instead - the field 'rmw_serialization_format' has been moved from rosbag2::StorageOptions to rosbag2_transport::RecordOptions, because it's a topic property rather than a storage one. - Currently all topics in a bag file must have the same serialization format - The tests have been updated accordingly * ros2GH-118 Fix tests after rebase * ros2GH-118 Fix MockMetadataIO and use it in test_writer * ros2GH-118 Fix Windows build and minor refactoring * ros2GH-118 Add test for writer to check that error is thrown if converter plugin does not exist * ros2GH-118 Add test to check that metadat_io_ writes metadata file in writer's destructor * ros2GH-118 Build Converter before opening the database in Writer::open() - This assures that if one of the converter plugins does not exist, the database is not created * ros2GH-118 Add end-to-end tests to check graceful failure if converter plugins do not exists - Both a test for record and play has been added * ros2GH-118 Rename 'encoding' CLI option to 'serialization_format' * ros2GH-127 Write serialization format in database also when it's not specified at CLI level - Tests to check that the serialization format is written in the database have also been added. * ros2GH-17 Add leak sanitizer to test - one of the main test goals can only be ssen by valgrind or sanitizers - enable leak sanitizer for gcc builds only (for now) * ros2GH-137: Fix cdr converter plugin - update pluginlib descriptions file after several renames - fix export of missing includes folder * ros2GH-137 Add integration test for cdr converter * ros2GH-137 Fix superfluous printf * ros2GH-137 It suffices to have only one converter test * ros2GH-137 Minor refactoring for better readability of test N.B. This exposes an pre-existing memory leak (not fixed here). * ros2GH-137 Fix memory leak of topic_name - topic_name member needs to be freed - provide a setter for convenience - Directly assigning a string literal in the test is not sufficient as this would be static memory that does not need to be freed. * ros2GH-17 Allow disabling the usage of sanitizers This allows manual usage of valgrind. * ros2GH-17 Fix renaming after rebase * ros2GH-17 Small cleanups (addressing review comments)

* Add play-for functionality Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Add play-for to the CLI Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Solves most of the comments from https://github.com/ros2/rosbag2/pull/960/files (ros2#14) * Add play-for functionality Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Add play-for to the CLI Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Adds playback_duration to PlayOptions. * Changes from PlayFor to Play srv message and changes start_offset and playback_duration. * Restores play_for tests. * Removes extra SubscriptionManager methods. * Solves comment about extra sent message. * Reorders code and comment. * Removes the SKIP_TEST flag. Co-authored-by: Geoffrey Biggs <gbiggs@killbots.net> Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Second round of comments from ros2#960 upstream (ros2#15) * Removes duration parameter. A leftover after switching to playback_duration. * Fixes comment. * Solves format in rosbag2_py -> _transport.cpp * Applies style suggestions. * Changes play() to return a boolean indicating whether the request could be fulfilled. * Removes extra unnecessary code. Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Updates test execution time for ros2/rosbag2#960 (ros2#16) * Adresses reviewer's comments. * Improve test time by adding an optional argument to SubscriptionManager::spin_subscriptions() - Reduces test_play_for execution time from 50s to 6s approximately. Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Redesign tests in test_play_for.cpp (ros2#17) * Redesigned tests to be more deterministic and running faster * Fixed bug in `play_for()` flow when replaying in loop or multiple times from the same player instance. Signed-off-by: Michael Orlov <michael.orlov@apex.ai> Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Remove unnecessary source file from test binary Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Correct errors introduced by rebase Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Correct play_next behaviour Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> Co-authored-by: Agustin Alba Chicar <ag.albachicar@ekumenlabs.com> Co-authored-by: Michael Orlov <morlovmr@gmail.com>

add rclcpp::shutdown() function

e720daf

dirk-thomas added the in progress Actively being worked on (Kanban column) label Mar 27, 2015

dirk-thomas mentioned this pull request Mar 27, 2015

add launch-based nosetest with simple pub/sub testing for all rmw implementations ros2/examples#7

Merged

dirk-thomas added a commit that referenced this pull request Mar 28, 2015

Merge pull request #17 from ros2/launch_package

9064648

add rclcpp::shutdown() function

dirk-thomas merged commit 9064648 into master Mar 28, 2015

dirk-thomas removed the in progress Actively being worked on (Kanban column) label Mar 28, 2015

dirk-thomas deleted the launch_package branch March 28, 2015 17:25

hidmic mentioned this pull request Jun 26, 2020

Fix pub/sub count API tests. #1203

Merged

alsora pushed a commit to alsora/rclcpp that referenced this pull request Oct 15, 2020

Merge pull request ros2#17 from alsora/asoragna/minor-clean

719ff15

minor cleanup of comments and spin_some timeout

nnmm pushed a commit to ApexAI/rclcpp that referenced this pull request Jul 9, 2022

Merge pull request ros2#17 from ros2/fix-prototype-warnings

c6c430b

Fix "function declaration isn't a prototype" warnings

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add rclcpp::shutdown() function #17

add rclcpp::shutdown() function #17

dirk-thomas commented Mar 27, 2015

wjwwood commented Mar 27, 2015

tfoote commented Mar 27, 2015

esteve commented Mar 28, 2015

add rclcpp::shutdown() function #17

add rclcpp::shutdown() function #17

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dirk-thomas commented Mar 27, 2015

wjwwood commented Mar 27, 2015

tfoote commented Mar 27, 2015

esteve commented Mar 28, 2015