Fix memory leaks in tests

- Use custom deleter when releasing rcl serialized buffer to a shared pointer. Signed-off-by: Michael Orlov <[email protected]>
ros2 · Jan 28, 2025 · 893afc6 · 893afc6
1 parent bd90a4b
commit 893afc6
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Showing 2 changed files with 22 additions and 14 deletions.
diff --git a/rosbag2_storage_mcap/test/rosbag2_storage_mcap/test_mcap_storage.cpp b/rosbag2_storage_mcap/test/rosbag2_storage_mcap/test_mcap_storage.cpp
@@ -45,9 +45,12 @@ class McapStorageTestFixture : public rosbag2_test_common::TemporaryDirectoryFix
     auto serialized_msg = std::make_shared<rclcpp::SerializedMessage>();
     serialization.serialize_message(&std_string_msg, serialized_msg.get());
 
-    auto ret = std::make_shared<rcutils_uint8_array_t>();
-    *ret = serialized_msg->release_rcl_serialized_message();
-    return ret;
+    auto msg = new rcutils_uint8_array_t;
+    *msg = serialized_msg->release_rcl_serialized_message();
+    return std::shared_ptr<rcutils_uint8_array_t>(msg, [](rmw_serialized_message_t * msg) {
+      EXPECT_EQ(rmw_serialized_message_fini(msg), RMW_RET_OK);
+      delete msg;
+    });
   }
 
   std::shared_ptr<rosbag2_storage::storage_interfaces::ReadWriteInterface> write_messages_to_mcap(

diff --git a/rosbag2_test_common/include/rosbag2_test_common/memory_management.hpp b/rosbag2_test_common/include/rosbag2_test_common/memory_management.hpp
@@ -32,16 +32,18 @@ class MemoryManagement
 
   template<typename T>
   inline
-  std::shared_ptr<rmw_serialized_message_t>
-  serialize_message(std::shared_ptr<T> message)
+  std::shared_ptr<rcutils_uint8_array_t> serialize_message(std::shared_ptr<T> message)
   {
     rclcpp::Serialization<T> ser;
-    rclcpp::SerializedMessage serialized_message;
-    ser.serialize_message(message.get(), &serialized_message);
+    auto serialized_msg = std::make_shared<rclcpp::SerializedMessage>();
+    ser.serialize_message(message.get(), serialized_msg.get());
 
-    auto ret = std::make_shared<rmw_serialized_message_t>();
-    *ret = serialized_message.release_rcl_serialized_message();
-    return ret;
+    auto msg = new rcutils_uint8_array_t;
+    *msg = serialized_msg->release_rcl_serialized_message();
+    return std::shared_ptr<rcutils_uint8_array_t>(msg, [](rmw_serialized_message_t * msg) {
+               EXPECT_EQ(rmw_serialized_message_fini(msg), RMW_RET_OK);
+               delete msg;
+    });
   }
 
   template<typename T>
@@ -58,10 +60,13 @@ class MemoryManagement
 
   std::shared_ptr<rmw_serialized_message_t> make_initialized_message()
   {
-    rclcpp::SerializedMessage serialized_message(0u);
-    auto ret = std::make_shared<rmw_serialized_message_t>();
-    *ret = serialized_message.release_rcl_serialized_message();
-    return ret;
+    rclcpp::SerializedMessage serialized_msg(0u);
+    auto msg = new rcutils_uint8_array_t;
+    *msg = serialized_msg.release_rcl_serialized_message();
+    return std::shared_ptr<rcutils_uint8_array_t>(msg, [](rmw_serialized_message_t * msg) {
+               EXPECT_EQ(rmw_serialized_message_fini(msg), RMW_RET_OK);
+               delete msg;
+    });
   }
 };