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Fix for memory leaks in the rclcpp::SerializedMessage #2861

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Merged
merged 1 commit into from
May 29, 2025
+23 −4
Merged

Fix for memory leaks in the rclcpp::SerializedMessage #2861

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27 changes: 23 additions & 4 deletions rclcpp/src/rclcpp/serialized_message.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -26,8 +26,13 @@ namespace rclcpp

inline void copy_rcl_message(const rcl_serialized_message_t & from, rcl_serialized_message_t & to)
{
const auto ret = rmw_serialized_message_init(
&to, from.buffer_capacity, &from.allocator);
auto ret = RCL_RET_ERROR;
if (nullptr == to.buffer) {
ret = rmw_serialized_message_init(&to, from.buffer_capacity, &from.allocator);
} else {
ret = rmw_serialized_message_resize(&to, from.buffer_capacity);
}

if (RCL_RET_OK != ret) {
rclcpp::exceptions::throw_from_rcl_error(ret);
}
Expand Down Expand Up @@ -78,7 +83,6 @@ SerializedMessage::SerializedMessage(rcl_serialized_message_t && other)
SerializedMessage & SerializedMessage::operator=(const SerializedMessage & other)
{
if (this != &other) {
serialized_message_ = rmw_get_zero_initialized_serialized_message();
copy_rcl_message(other.serialized_message_, serialized_message_);
}

Expand All @@ -88,7 +92,6 @@ SerializedMessage & SerializedMessage::operator=(const SerializedMessage & other
SerializedMessage & SerializedMessage::operator=(const rcl_serialized_message_t & other)
{
if (&serialized_message_ != &other) {
serialized_message_ = rmw_get_zero_initialized_serialized_message();
copy_rcl_message(other, serialized_message_);
}

Expand All @@ -98,6 +101,14 @@ SerializedMessage & SerializedMessage::operator=(const rcl_serialized_message_t
SerializedMessage & SerializedMessage::operator=(SerializedMessage && other)
{
if (this != &other) {
if (nullptr != serialized_message_.buffer) {
const auto fini_ret = rmw_serialized_message_fini(&serialized_message_);
if (RCL_RET_OK != fini_ret) {
RCLCPP_ERROR(
get_logger("rclcpp"),
"Failed to destroy serialized message: %s", rcl_get_error_string().str);
}
}
serialized_message_ =
std::exchange(other.serialized_message_, rmw_get_zero_initialized_serialized_message());
}
Expand All @@ -108,6 +119,14 @@ SerializedMessage & SerializedMessage::operator=(SerializedMessage && other)
SerializedMessage & SerializedMessage::operator=(rcl_serialized_message_t && other)
{
if (&serialized_message_ != &other) {
if (nullptr != serialized_message_.buffer) {
const auto fini_ret = rmw_serialized_message_fini(&serialized_message_);
if (RCL_RET_OK != fini_ret) {
RCLCPP_ERROR(
get_logger("rclcpp"),
"Failed to destroy serialized message: %s", rcl_get_error_string().str);
}
}
serialized_message_ =
std::exchange(other, rmw_get_zero_initialized_serialized_message());
}
Expand Down