pass node to client and service destroy funcs

ros2 · Sep 15, 2016 · df0c45d · df0c45d
1 parent 9c97489
commit df0c45d
Show file tree

Hide file tree

Showing 3 changed files with 6 additions and 3 deletions.
diff --git a/rcl/src/rcl/client.c b/rcl/src/rcl/client.c
@@ -103,7 +103,7 @@ rcl_client_fini(rcl_client_t * client, rcl_node_t * node)
   RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT);
   if (client->impl) {
     rmw_ret_t ret =
-      rmw_destroy_client(client->impl->rmw_handle);
+      rmw_destroy_client(rcl_node_get_rmw_handle(node), client->impl->rmw_handle);
     if (ret != RMW_RET_OK) {
       RCL_SET_ERROR_MSG(rmw_get_error_string_safe());
       result = RCL_RET_ERROR;

diff --git a/rcl/src/rcl/service.c b/rcl/src/rcl/service.c
@@ -99,7 +99,7 @@ rcl_service_fini(rcl_service_t * service, rcl_node_t * node)
   RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT);
   if (service->impl) {
     rmw_ret_t ret =
-      rmw_destroy_service(service->impl->rmw_handle);
+      rmw_destroy_service(rcl_node_get_rmw_handle(node), service->impl->rmw_handle);
     if (ret != RMW_RET_OK) {
       RCL_SET_ERROR_MSG(rmw_get_error_string_safe());
       result = RCL_RET_ERROR;

diff --git a/rcl/test/CMakeLists.txt b/rcl/test/CMakeLists.txt
@@ -61,7 +61,10 @@ function(test_target_function)
   )
 
   # TODO(wjwwood): remove this when the graph API works properly for more than OpenSplice.
-  if(rmw_implementation STREQUAL "rmw_opensplice_cpp")
+  if(
+    rmw_implementation STREQUAL "rmw_opensplice_cpp"
+    OR rmw_implementation STREQUAL "rmw_connext_cpp"
+  )
     rcl_add_custom_gtest(test_graph${target_suffix}
       SRCS rcl/test_graph.cpp
       ENV ${extra_test_env}