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Fixed allocator allocate usage on intra process manager #17

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Dec 17, 2021
Merged

Fixed allocator allocate usage on intra process manager #17

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11 changes: 7 additions & 4 deletions rclcpp/include/rclcpp/experimental/intra_process_manager.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -456,10 +456,12 @@ class IntraProcessManager
"allocator types, which is not supported");
} else {
if constexpr (rclcpp::TypeAdapter<MessageT>::is_specialized::value) {
auto ptr = ROSMessageTypeAllocatorTraits::allocate(allocator, 1);
ROSMessageTypeAllocatorTraits::construct(allocator, ptr);
ROSMessageTypeDeleter deleter = message.get_deleter();
rclcpp::TypeAdapter<MessageT>::convert_to_ros_message(message, *ptr);
ROSMessageTypeAllocator ros_message_alloc(allocator);
auto ptr = ros_message_alloc.allocate(1);
ros_message_alloc.construct(ptr);
ROSMessageTypeDeleter deleter;
allocator::set_allocator_for_deleter(&deleter, &allocator);
rclcpp::TypeAdapter<MessageT>::convert_to_ros_message(*message, *ptr);
auto ros_msg = std::unique_ptr<ROSMessageType, ROSMessageTypeDeleter>(ptr, deleter);
ros_message_subscription->provide_intra_process_message(std::move(ros_msg));
} else {
Expand All @@ -471,6 +473,7 @@ class IntraProcessManager
// Copy the message since we have additional subscriptions to serve
MessageUniquePtr copy_message;
Deleter deleter = message.get_deleter();
allocator::set_allocator_for_deleter(&deleter, &allocator);
auto ptr = MessageAllocTraits::allocate(allocator, 1);
MessageAllocTraits::construct(allocator, ptr, *message);
copy_message = MessageUniquePtr(ptr, deleter);
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