RCL overwriting error state after rmw_create_node

[allsey87]

Bug report

Required Info:

• Operating System: WebAssembly
• Installation type: Source
• Version or commit hash: Galactic
• DDS implementation: Custom
• Client library (if applicable): rclcpp

Expected behavior

RCL should fail gracefully when rmw_create_node returns NULL and sets the error state via RMW_SET_ERROR_MSG

Actual behavior

RCL ignores the fact the rmw_create_node set an error and returned NULL and then proceeds to overwrite the error state as follows:

failed to initialize rcl node: rcl node's rmw handle is invalid, at /home/developer/workspace/src/ros2/rcl/rcl/src/rcl/node.c:414
>>> [rcutils|error_handling.c:108] rcutils_set_error_state()
This error state is being overwritten:
'RMW_ERROR_MESSAGE, at RMW_FILENAME:0, at /home/developer/workspace/src/ros2/rcl/rcl/src/rcl/node.c:262'
with this new error message:
'rcl node's rmw handle is invalid, at /home/developer/workspace/src/ros2/rcl/rcl/src/rcl/node.c:414'
rcutils_reset_error() should be called after error handling to avoid this.
<<<

[ERROR] [0000000003.694284999] [rcl]: Failed to fini publisher for node: 1

[fujitatomoya]

i think this is bug.

rcl/rcl/src/rcl/node.c

Lines 251 to 261 in 493ebf3

	// node logger name
	node->impl->logger_name = rcl_create_node_logger_name(name, local_namespace_, allocator);
	RCL_CHECK_FOR_NULL_WITH_MSG(
	node->impl->logger_name, "creating logger name failed", goto fail);
	RCUTILS_LOG_DEBUG_NAMED(
	ROS_PACKAGE_NAME, "Using domain ID of '%zu'", context->impl->rmw_context.actual_domain_id);
	node->impl->rmw_node_handle = rmw_create_node(
	&(node->context->impl->rmw_context),
	name, local_namespace_);

logger_name is assigned before rmw_create_node above. and if rmw_create_node fails, it goes to

rcl/rcl/src/rcl/node.c

Lines 305 to 311 in 493ebf3

	fail:
	if (node->impl) {
	if (rcl_logging_rosout_enabled() &&
	node->impl->options.enable_rosout &&
	node->impl->logger_name)
	{
	ret = rcl_logging_rosout_fini_publisher_for_node(node);

and call rcl_logging_rosout_fini_publisher_for_node w/o calling rcl_logging_rosout_init_publisher_for_node.

this leads to call rcl_node_is_valid_except_context to overwrite the error message.

[fujitatomoya]

#985 can fix the problem, but according to #985 (review), it would be nice to refactor the rcl_node_init and rcl_node_fini process to fix the complication and possible problem in the future.