Pass request header to callbacks #22

esteve · 2015-04-20T20:24:17Z

Connects to #21

esteve · 2015-04-20T20:25:00Z

dirk-thomas · 2015-04-20T20:30:10Z

Do we only expose the signature which includes the header or also have a separate signature without - in case the user does not care about the information?

tfoote · 2015-04-21T06:23:43Z

+1

dirk-thomas · 2015-04-21T06:33:17Z

rclcpp/include/rclcpp/service.hpp

+  typedef std::function<
+      void (const std::shared_ptr<rmw_request_id_t> &,
+      const std::shared_ptr<typename ServiceT::Request> &,
+      std::shared_ptr<typename ServiceT::Response> &)> CallbackWithHeaderType;


The wrapping looks a bit unnatural. Would it be better to add a newline after void( and indent all arguments one level?

Same for the CallbackType signature.

esteve · 2015-04-22T20:15:13Z

@dirk-thomas @wjwwood ping

wjwwood · 2015-04-22T20:17:21Z

lgtm

dirk-thomas · 2015-04-22T21:04:19Z

lgtm

Pass request header to callbacks

dirk-thomas · 2015-04-22T21:14:40Z

We might want to squash changes like this in the future to keep browsing the history of changes easier.

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>

make sure that node does not get destroyed while unsetting guard condition

Pass request header to callbacks

b938bd6

esteve added the in progress Actively being worked on (Kanban column) label Apr 20, 2015

esteve mentioned this pull request Apr 20, 2015

add unit tests for server / client ros2/examples#13

Merged

Esteve Fernandez added 2 commits April 20, 2015 15:45

Added support for callbacks with and without accepting a request header

8abae8a

Fix code style

35b2c10

dirk-thomas reviewed Apr 21, 2015
View reviewed changes

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c3791fc

esteve added a commit that referenced this pull request Apr 22, 2015

Merge pull request #22 from ros2/request-header

1bf595d

Pass request header to callbacks

esteve merged commit 1bf595d into master Apr 22, 2015

esteve removed the in progress Actively being worked on (Kanban column) label Apr 22, 2015

esteve deleted the request-header branch April 22, 2015 21:05

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 19, 2020

Merge pull request ros2#22 from alsora/asoragna/fix-entity-unset

dc3b747

make sure that node does not get destroyed while unsetting guard condition

DensoADAS pushed a commit to DensoADAS/rclcpp that referenced this pull request Aug 5, 2022

add visibility macro (ros2#22)

2d3bcdb

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Pass request header to callbacks #22

Pass request header to callbacks #22

esteve commented Apr 20, 2015

esteve commented Apr 20, 2015

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tfoote commented Apr 21, 2015

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dirk-thomas commented Apr 22, 2015

dirk-thomas commented Apr 22, 2015

Pass request header to callbacks #22

Pass request header to callbacks #22

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esteve commented Apr 20, 2015

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