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Fix memory leak of 56 bytes in test_graph #468

Merged
merged 1 commit into from
Jul 1, 2019
Merged

Fix memory leak of 56 bytes in test_graph #468

merged 1 commit into from
Jul 1, 2019

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vmayoral
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test_rcl_get_publisher_names_and_types_by_node was finalizing without calling to rcl_names_and_types_fini which is generating a memory leak in test_graph.

When launching test_graph__rmw_fastrtps_cpp with ASan enabled (see tutorial):

test_graph__rmw_fastrtps_cpp launch (no patch) 
Running main() from /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/src/gtest_main.cc
[==========] Running 14 tests from 2 test cases.
[----------] Global test environment set-up.
[----------] 11 tests from TestGraphFixture__rmw_fastrtps_cpp
[ RUN      ] TestGraphFixture__rmw_fastrtps_cpp.test_rcl_get_and_destroy_topic_names_and_types
[       OK ] TestGraphFixture__rmw_fastrtps_cpp.test_rcl_get_and_destroy_topic_names_and_types (25 ms)
[ RUN      ] TestGraphFixture__rmw_fastrtps_cpp.test_rcl_get_service_names_and_types
[       OK ] TestGraphFixture__rmw_fastrtps_cpp.test_rcl_get_service_names_and_types (17 ms)
[ RUN      ] TestGraphFixture__rmw_fastrtps_cpp.test_rcl_names_and_types_init
[       OK ] TestGraphFixture__rmw_fastrtps_cpp.test_rcl_names_and_types_init (20 ms)
[ RUN      ] TestGraphFixture__rmw_fastrtps_cpp.test_rcl_get_publisher_names_and_types_by_node
[ERROR] [rmw_fastrtps_shared_cpp]: Unable to find GUID for node:
[ERROR] [rmw_fastrtps_shared_cpp]: Unable to find GUID for node: _InvalidNodeName
[ERROR] [rmw_fastrtps_shared_cpp]: Unable to find GUID for node: /test_rcl_get_publisher_names_and_types_by_node
[       OK ] TestGraphFixture__rmw_fastrtps_cpp.test_rcl_get_publisher_names_and_types_by_node (20 ms)
[ RUN      ] TestGraphFixture__rmw_fastrtps_cpp.test_rcl_get_subscriber_names_and_types_by_node
[ERROR] [rmw_fastrtps_shared_cpp]: Unable to find GUID for node:
[ERROR] [rmw_fastrtps_shared_cpp]: Unable to find GUID for node: _InvalidNodeName
[ERROR] [rmw_fastrtps_shared_cpp]: Unable to find GUID for node: /test_rcl_get_subscriber_names_and_types_by_node
[       OK ] TestGraphFixture__rmw_fastrtps_cpp.test_rcl_get_subscriber_names_and_types_by_node (20 ms)
[ RUN      ] TestGraphFixture__rmw_fastrtps_cpp.test_rcl_get_service_names_and_types_by_node
[ERROR] [rmw_fastrtps_shared_cpp]: Unable to find GUID for node:
[ERROR] [rmw_fastrtps_shared_cpp]: Unable to find GUID for node: _InvalidNodeName
[ERROR] [rmw_fastrtps_shared_cpp]: Unable to find GUID for node: /test_rcl_get_service_names_and_types_by_node
[       OK ] TestGraphFixture__rmw_fastrtps_cpp.test_rcl_get_service_names_and_types_by_node (16 ms)
[ RUN      ] TestGraphFixture__rmw_fastrtps_cpp.test_rcl_count_publishers
[       OK ] TestGraphFixture__rmw_fastrtps_cpp.test_rcl_count_publishers (19 ms)
[ RUN      ] TestGraphFixture__rmw_fastrtps_cpp.test_rcl_count_subscribers
[       OK ] TestGraphFixture__rmw_fastrtps_cpp.test_rcl_count_subscribers (21 ms)
[ RUN      ] TestGraphFixture__rmw_fastrtps_cpp.test_graph_query_functions
[INFO] [rcl]:  Try 1: 0 publishers, 0 subscribers, and that the topic is not in the graph.
[INFO] [rcl]:   state correct!
[INFO] [rcl]:  Try 1: 1 publishers, 0 subscribers, and that the topic is in the graph.
[INFO] [rcl]:   state correct!
[INFO] [rcl]:  Try 1: 1 publishers, 1 subscribers, and that the topic is in the graph.
[INFO] [rcl]:   state correct!
[INFO] [rcl]:  Try 1: 0 publishers, 1 subscribers, and that the topic is in the graph.
[INFO] [rcl]:   state correct!
[INFO] [rcl]:  Try 1: 0 publishers, 0 subscribers, and that the topic is not in the graph.
[INFO] [rcl]:   state correct!
[       OK ] TestGraphFixture__rmw_fastrtps_cpp.test_graph_query_functions (22 ms)
[ RUN      ] TestGraphFixture__rmw_fastrtps_cpp.test_graph_guard_condition_topics
[INFO] [rcl]: waiting up to '400000000' nanoseconds for graph changes
[INFO] [rcl]: waiting up to '400000000' nanoseconds for graph changes
[INFO] [rcl]: waiting up to '400000000' nanoseconds for graph changes
[INFO] [rcl]: waiting up to '400000000' nanoseconds for graph changes
[INFO] [rcl]: waiting up to '400000000' nanoseconds for graph changes
[INFO] [rcl]: waiting up to '400000000' nanoseconds for graph changes
[       OK ] TestGraphFixture__rmw_fastrtps_cpp.test_graph_guard_condition_topics (1237 ms)
[ RUN      ] TestGraphFixture__rmw_fastrtps_cpp.test_rcl_service_server_is_available
[INFO] [rcl]: waiting up to '1000000000' nanoseconds for graph changes
[INFO] [rcl]: waiting up to '1000000000' nanoseconds for graph changes
[       OK ] TestGraphFixture__rmw_fastrtps_cpp.test_rcl_service_server_is_available (38 ms)
[----------] 11 tests from TestGraphFixture__rmw_fastrtps_cpp (1455 ms total)

[----------] 3 tests from NodeGraphMultiNodeFixture
[ RUN      ] NodeGraphMultiNodeFixture.test_node_info_subscriptions
[       OK ] NodeGraphMultiNodeFixture.test_node_info_subscriptions (1041 ms)
[ RUN      ] NodeGraphMultiNodeFixture.test_node_info_publishers
[       OK ] NodeGraphMultiNodeFixture.test_node_info_publishers (1036 ms)
[ RUN      ] NodeGraphMultiNodeFixture.test_node_info_services
[       OK ] NodeGraphMultiNodeFixture.test_node_info_services (1042 ms)
[----------] 3 tests from NodeGraphMultiNodeFixture (3119 ms total)

[----------] Global test environment tear-down
[==========] 14 tests from 2 test cases ran. (4574 ms total)
[  PASSED  ] 14 tests.

=================================================================
==3368==ERROR: LeakSanitizer: detected memory leaks

Direct leak of 56 byte(s) in 1 object(s) allocated from:
    #0 0x7fe16dcd8d38 in __interceptor_calloc (/usr/lib/x86_64-linux-gnu/libasan.so.4+0xded38)
    #1 0x7fe16d4244d6 in __default_zero_allocate /opt/ros2_asan_ws/src/ros2/rcutils/src/allocator.c:56
    #2 0x7fe16d215c7e in rmw_names_and_types_init /opt/ros2_asan_ws/src/ros2/rmw/rmw/src/names_and_types.c:72
    #3 0x7fe16aabe35a in rmw_fastrtps_shared_cpp::__copy_data_to_results(std::map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::set<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >, 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, std::set<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > > > > const&, rcutils_allocator_t*, bool, rmw_names_and_types_t*) /opt/ros2_asan_ws/src/ros2/rmw_fastrtps/rmw_fastrtps_shared_cpp/src/rmw_node_info_and_types.cpp:199
    #4 0x7fe16aac0c45 in rmw_fastrtps_shared_cpp::__rmw_get_topic_names_and_types_by_node(char const*, rmw_node_t const*, rcutils_allocator_t*, char const*, char const*, bool, std::function<LockedObject<TopicCache> const& (CustomParticipantInfo&)>&, rmw_names_and_types_t*) /opt/ros2_asan_ws/src/ros2/rmw_fastrtps/rmw_fastrtps_shared_cpp/src/rmw_node_info_and_types.cpp:349
    #5 0x7fe16aac10cc in rmw_fastrtps_shared_cpp::__rmw_get_publisher_names_and_types_by_node(char const*, rmw_node_t const*, rcutils_allocator_t*, char const*, char const*, bool, rmw_names_and_types_t*) /opt/ros2_asan_ws/src/ros2/rmw_fastrtps/rmw_fastrtps_shared_cpp/src/rmw_node_info_and_types.cpp:385
    #6 0x7fe16d6d21eb in rmw_get_publisher_names_and_types_by_node /opt/ros2_asan_ws/src/ros2/rmw_fastrtps/rmw_fastrtps_cpp/src/rmw_node_info_and_types.cpp:53
    #7 0x7fe16d997875 in rcl_get_publisher_names_and_types_by_node /opt/ros2_asan_ws/src/ros2/rcl/rcl/src/rcl/graph.c:60
    #8 0x561b792350ed in TestGraphFixture__rmw_fastrtps_cpp_test_rcl_get_publisher_names_and_types_by_node_Test::TestBody() /opt/ros2_asan_ws/src/ros2/rcl/rcl/test/rcl/test_graph.cpp:342
    #9 0x561b792ed215 in void testing::internal::HandleSehExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/./src/gtest.cc:2447
    #10 0x561b792df369 in void testing::internal::HandleExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/./src/gtest.cc:2483
    #11 0x561b7928be51 in testing::Test::Run() /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/./src/gtest.cc:2522
    #12 0x561b7928d27c in testing::TestInfo::Run() /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/./src/gtest.cc:2703
    #13 0x561b7928de20 in testing::TestCase::Run() /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/./src/gtest.cc:2825
    #14 0x561b792a8f31 in testing::internal::UnitTestImpl::RunAllTests() /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/./src/gtest.cc:5216
    #15 0x561b792efcc8 in bool testing::internal::HandleSehExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/./src/gtest.cc:2447
    #16 0x561b792e1632 in bool testing::internal::HandleExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/./src/gtest.cc:2483
    #17 0x561b792a5cc5 in testing::UnitTest::Run() /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/./src/gtest.cc:4824
    #18 0x561b79279214 in RUN_ALL_TESTS() /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/include/gtest/gtest.h:2370
    #19 0x561b7927915a in main /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/src/gtest_main.cc:36
    #20 0x7fe16c45db96 in __libc_start_main (/lib/x86_64-linux-gnu/libc.so.6+0x21b96)

Direct leak of 8 byte(s) in 1 object(s) allocated from:
    #0 0x7fe16dcd8d38 in __interceptor_calloc (/usr/lib/x86_64-linux-gnu/libasan.so.4+0xded38)
    #1 0x7fe16d4244d6 in __default_zero_allocate /opt/ros2_asan_ws/src/ros2/rcutils/src/allocator.c:56
    #2 0x7fe16d436e77 in rcutils_string_array_init /opt/ros2_asan_ws/src/ros2/rcutils/src/string_array.c:54
    #3 0x7fe16d215b4a in rmw_names_and_types_init /opt/ros2_asan_ws/src/ros2/rmw/rmw/src/names_and_types.c:66
    #4 0x7fe16aabe35a in rmw_fastrtps_shared_cpp::__copy_data_to_results(std::map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::set<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >, 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, std::set<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > > > > const&, rcutils_allocator_t*, bool, rmw_names_and_types_t*) /opt/ros2_asan_ws/src/ros2/rmw_fastrtps/rmw_fastrtps_shared_cpp/src/rmw_node_info_and_types.cpp:199
    #5 0x7fe16aac0c45 in rmw_fastrtps_shared_cpp::__rmw_get_topic_names_and_types_by_node(char const*, rmw_node_t const*, rcutils_allocator_t*, char const*, char const*, bool, std::function<LockedObject<TopicCache> const& (CustomParticipantInfo&)>&, rmw_names_and_types_t*) /opt/ros2_asan_ws/src/ros2/rmw_fastrtps/rmw_fastrtps_shared_cpp/src/rmw_node_info_and_types.cpp:349
    #6 0x7fe16aac10cc in rmw_fastrtps_shared_cpp::__rmw_get_publisher_names_and_types_by_node(char const*, rmw_node_t const*, rcutils_allocator_t*, char const*, char const*, bool, rmw_names_and_types_t*) /opt/ros2_asan_ws/src/ros2/rmw_fastrtps/rmw_fastrtps_shared_cpp/src/rmw_node_info_and_types.cpp:385
    #7 0x7fe16d6d21eb in rmw_get_publisher_names_and_types_by_node /opt/ros2_asan_ws/src/ros2/rmw_fastrtps/rmw_fastrtps_cpp/src/rmw_node_info_and_types.cpp:53
    #8 0x7fe16d997875 in rcl_get_publisher_names_and_types_by_node /opt/ros2_asan_ws/src/ros2/rcl/rcl/src/rcl/graph.c:60
    #9 0x561b792350ed in TestGraphFixture__rmw_fastrtps_cpp_test_rcl_get_publisher_names_and_types_by_node_Test::TestBody() /opt/ros2_asan_ws/src/ros2/rcl/rcl/test/rcl/test_graph.cpp:342
    #10 0x561b792ed215 in void testing::internal::HandleSehExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/./src/gtest.cc:2447
    #11 0x561b792df369 in void testing::internal::HandleExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/./src/gtest.cc:2483
    #12 0x561b7928be51 in testing::Test::Run() /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/./src/gtest.cc:2522
    #13 0x561b7928d27c in testing::TestInfo::Run() /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/./src/gtest.cc:2703
    #14 0x561b7928de20 in testing::TestCase::Run() /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/./src/gtest.cc:2825
    #15 0x561b792a8f31 in testing::internal::UnitTestImpl::RunAllTests() /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/./src/gtest.cc:5216
    #16 0x561b792efcc8 in bool testing::internal::HandleSehExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/./src/gtest.cc:2447
    #17 0x561b792e1632 in bool testing::internal::HandleExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/./src/gtest.cc:2483
    #18 0x561b792a5cc5 in testing::UnitTest::Run() /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/./src/gtest.cc:4824
    #19 0x561b79279214 in RUN_ALL_TESTS() /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/include/gtest/gtest.h:2370
    #20 0x561b7927915a in main /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/src/gtest_main.cc:36
    #21 0x7fe16c45db96 in __libc_start_main (/lib/x86_64-linux-gnu/libc.so.6+0x21b96)

Indirect leak of 23 byte(s) in 1 object(s) allocated from:
    #0 0x7fe16dcd8b50 in __interceptor_malloc (/usr/lib/x86_64-linux-gnu/libasan.so.4+0xdeb50)
    #1 0x7fe16d424465 in __default_allocate /opt/ros2_asan_ws/src/ros2/rcutils/src/allocator.c:35
    #2 0x7fe16d436c2f in rcutils_strndup /opt/ros2_asan_ws/src/ros2/rcutils/src/strdup.c:42
    #3 0x7fe16d436bae in rcutils_strdup /opt/ros2_asan_ws/src/ros2/rcutils/src/strdup.c:33
    #4 0x7fe16aabea91 in rmw_fastrtps_shared_cpp::__copy_data_to_results(std::map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::set<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >, 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, std::set<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > > > > const&, rcutils_allocator_t*, bool, rmw_names_and_types_t*) /opt/ros2_asan_ws/src/ros2/rmw_fastrtps/rmw_fastrtps_shared_cpp/src/rmw_node_info_and_types.cpp:248
    #5 0x7fe16aac0c45 in rmw_fastrtps_shared_cpp::__rmw_get_topic_names_and_types_by_node(char const*, rmw_node_t const*, rcutils_allocator_t*, char const*, char const*, bool, std::function<LockedObject<TopicCache> const& (CustomParticipantInfo&)>&, rmw_names_and_types_t*) /opt/ros2_asan_ws/src/ros2/rmw_fastrtps/rmw_fastrtps_shared_cpp/src/rmw_node_info_and_types.cpp:349
    #6 0x7fe16aac10cc in rmw_fastrtps_shared_cpp::__rmw_get_publisher_names_and_types_by_node(char const*, rmw_node_t const*, rcutils_allocator_t*, char const*, char const*, bool, rmw_names_and_types_t*) /opt/ros2_asan_ws/src/ros2/rmw_fastrtps/rmw_fastrtps_shared_cpp/src/rmw_node_info_and_types.cpp:385
    #7 0x7fe16d6d21eb in rmw_get_publisher_names_and_types_by_node /opt/ros2_asan_ws/src/ros2/rmw_fastrtps/rmw_fastrtps_cpp/src/rmw_node_info_and_types.cpp:53
    #8 0x7fe16d997875 in rcl_get_publisher_names_and_types_by_node /opt/ros2_asan_ws/src/ros2/rcl/rcl/src/rcl/graph.c:60
    #9 0x561b792350ed in TestGraphFixture__rmw_fastrtps_cpp_test_rcl_get_publisher_names_and_types_by_node_Test::TestBody() /opt/ros2_asan_ws/src/ros2/rcl/rcl/test/rcl/test_graph.cpp:342
    #10 0x561b792ed215 in void testing::internal::HandleSehExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/./src/gtest.cc:2447
    #11 0x561b792df369 in void testing::internal::HandleExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/./src/gtest.cc:2483
    #12 0x561b7928be51 in testing::Test::Run() /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/./src/gtest.cc:2522
    #13 0x561b7928d27c in testing::TestInfo::Run() /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/./src/gtest.cc:2703
    #14 0x561b7928de20 in testing::TestCase::Run() /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/./src/gtest.cc:2825
    #15 0x561b792a8f31 in testing::internal::UnitTestImpl::RunAllTests() /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/./src/gtest.cc:5216
    #16 0x561b792efcc8 in bool testing::internal::HandleSehExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/./src/gtest.cc:2447
    #17 0x561b792e1632 in bool testing::internal::HandleExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/./src/gtest.cc:2483
    #18 0x561b792a5cc5 in testing::UnitTest::Run() /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/./src/gtest.cc:4824
    #19 0x561b79279214 in RUN_ALL_TESTS() /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/include/gtest/gtest.h:2370
    #20 0x561b7927915a in main /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/src/gtest_main.cc:36
    #21 0x7fe16c45db96 in __libc_start_main (/lib/x86_64-linux-gnu/libc.so.6+0x21b96)

Indirect leak of 8 byte(s) in 1 object(s) allocated from:
    #0 0x7fe16dcd8d38 in __interceptor_calloc (/usr/lib/x86_64-linux-gnu/libasan.so.4+0xded38)
    #1 0x7fe16d4244d6 in __default_zero_allocate /opt/ros2_asan_ws/src/ros2/rcutils/src/allocator.c:56
    #2 0x7fe16d436e77 in rcutils_string_array_init /opt/ros2_asan_ws/src/ros2/rcutils/src/string_array.c:54
    #3 0x7fe16aabe772 in rmw_fastrtps_shared_cpp::__copy_data_to_results(std::map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::set<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >, 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, std::set<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > > > > const&, rcutils_allocator_t*, bool, rmw_names_and_types_t*) /opt/ros2_asan_ws/src/ros2/rmw_fastrtps/rmw_fastrtps_shared_cpp/src/rmw_node_info_and_types.cpp:238
    #4 0x7fe16aac0c45 in rmw_fastrtps_shared_cpp::__rmw_get_topic_names_and_types_by_node(char const*, rmw_node_t const*, rcutils_allocator_t*, char const*, char const*, bool, std::function<LockedObject<TopicCache> const& (CustomParticipantInfo&)>&, rmw_names_and_types_t*) /opt/ros2_asan_ws/src/ros2/rmw_fastrtps/rmw_fastrtps_shared_cpp/src/rmw_node_info_and_types.cpp:349
    #5 0x7fe16aac10cc in rmw_fastrtps_shared_cpp::__rmw_get_publisher_names_and_types_by_node(char const*, rmw_node_t const*, rcutils_allocator_t*, char const*, char const*, bool, rmw_names_and_types_t*) /opt/ros2_asan_ws/src/ros2/rmw_fastrtps/rmw_fastrtps_shared_cpp/src/rmw_node_info_and_types.cpp:385
    #6 0x7fe16d6d21eb in rmw_get_publisher_names_and_types_by_node /opt/ros2_asan_ws/src/ros2/rmw_fastrtps/rmw_fastrtps_cpp/src/rmw_node_info_and_types.cpp:53
    #7 0x7fe16d997875 in rcl_get_publisher_names_and_types_by_node /opt/ros2_asan_ws/src/ros2/rcl/rcl/src/rcl/graph.c:60
    #8 0x561b792350ed in TestGraphFixture__rmw_fastrtps_cpp_test_rcl_get_publisher_names_and_types_by_node_Test::TestBody() /opt/ros2_asan_ws/src/ros2/rcl/rcl/test/rcl/test_graph.cpp:342
    #9 0x561b792ed215 in void testing::internal::HandleSehExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/./src/gtest.cc:2447
    #10 0x561b792df369 in void testing::internal::HandleExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/./src/gtest.cc:2483
    #11 0x561b7928be51 in testing::Test::Run() /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/./src/gtest.cc:2522
    #12 0x561b7928d27c in testing::TestInfo::Run() /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/./src/gtest.cc:2703
    #13 0x561b7928de20 in testing::TestCase::Run() /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/./src/gtest.cc:2825
    #14 0x561b792a8f31 in testing::internal::UnitTestImpl::RunAllTests() /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/./src/gtest.cc:5216
    #15 0x561b792efcc8 in bool testing::internal::HandleSehExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/./src/gtest.cc:2447
    #16 0x561b792e1632 in bool testing::internal::HandleExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/./src/gtest.cc:2483
    #17 0x561b792a5cc5 in testing::UnitTest::Run() /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/./src/gtest.cc:4824
    #18 0x561b79279214 in RUN_ALL_TESTS() /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/include/gtest/gtest.h:2370
    #19 0x561b7927915a in main /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/src/gtest_main.cc:36
    #20 0x7fe16c45db96 in __libc_start_main (/lib/x86_64-linux-gnu/libc.so.6+0x21b96)

Indirect leak of 8 byte(s) in 1 object(s) allocated from:
    #0 0x7fe16dcd8b50 in __interceptor_malloc (/usr/lib/x86_64-linux-gnu/libasan.so.4+0xdeb50)
    #1 0x7fe16d424465 in __default_allocate /opt/ros2_asan_ws/src/ros2/rcutils/src/allocator.c:35
    #2 0x7fe16d436c2f in rcutils_strndup /opt/ros2_asan_ws/src/ros2/rcutils/src/strdup.c:42
    #3 0x7fe16d436bae in rcutils_strdup /opt/ros2_asan_ws/src/ros2/rcutils/src/strdup.c:33
    #4 0x7fe16aabe630 in rmw_fastrtps_shared_cpp::__copy_data_to_results(std::map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::set<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >, 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, std::set<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > > > > const&, rcutils_allocator_t*, bool, rmw_names_and_types_t*) /opt/ros2_asan_ws/src/ros2/rmw_fastrtps/rmw_fastrtps_shared_cpp/src/rmw_node_info_and_types.cpp:226
    #5 0x7fe16aac0c45 in rmw_fastrtps_shared_cpp::__rmw_get_topic_names_and_types_by_node(char const*, rmw_node_t const*, rcutils_allocator_t*, char const*, char const*, bool, std::function<LockedObject<TopicCache> const& (CustomParticipantInfo&)>&, rmw_names_and_types_t*) /opt/ros2_asan_ws/src/ros2/rmw_fastrtps/rmw_fastrtps_shared_cpp/src/rmw_node_info_and_types.cpp:349
    #6 0x7fe16aac10cc in rmw_fastrtps_shared_cpp::__rmw_get_publisher_names_and_types_by_node(char const*, rmw_node_t const*, rcutils_allocator_t*, char const*, char const*, bool, rmw_names_and_types_t*) /opt/ros2_asan_ws/src/ros2/rmw_fastrtps/rmw_fastrtps_shared_cpp/src/rmw_node_info_and_types.cpp:385
    #7 0x7fe16d6d21eb in rmw_get_publisher_names_and_types_by_node /opt/ros2_asan_ws/src/ros2/rmw_fastrtps/rmw_fastrtps_cpp/src/rmw_node_info_and_types.cpp:53
    #8 0x7fe16d997875 in rcl_get_publisher_names_and_types_by_node /opt/ros2_asan_ws/src/ros2/rcl/rcl/src/rcl/graph.c:60
    #9 0x561b792350ed in TestGraphFixture__rmw_fastrtps_cpp_test_rcl_get_publisher_names_and_types_by_node_Test::TestBody() /opt/ros2_asan_ws/src/ros2/rcl/rcl/test/rcl/test_graph.cpp:342
    #10 0x561b792ed215 in void testing::internal::HandleSehExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/./src/gtest.cc:2447
    #11 0x561b792df369 in void testing::internal::HandleExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/./src/gtest.cc:2483
    #12 0x561b7928be51 in testing::Test::Run() /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/./src/gtest.cc:2522
    #13 0x561b7928d27c in testing::TestInfo::Run() /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/./src/gtest.cc:2703
    #14 0x561b7928de20 in testing::TestCase::Run() /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/./src/gtest.cc:2825
    #15 0x561b792a8f31 in testing::internal::UnitTestImpl::RunAllTests() /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/./src/gtest.cc:5216
    #16 0x561b792efcc8 in bool testing::internal::HandleSehExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/./src/gtest.cc:2447
    #17 0x561b792e1632 in bool testing::internal::HandleExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/./src/gtest.cc:2483
    #18 0x561b792a5cc5 in testing::UnitTest::Run() /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/./src/gtest.cc:4824
    #19 0x561b79279214 in RUN_ALL_TESTS() /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/include/gtest/gtest.h:2370
    #20 0x561b7927915a in main /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/src/gtest_main.cc:36
    #21 0x7fe16c45db96 in __libc_start_main (/lib/x86_64-linux-gnu/libc.so.6+0x21b96)

SUMMARY: AddressSanitizer: 103 byte(s) leaked in 5 allocation(s).

with the proposed changes:

test_graph__rmw_fastrtps_cpp launch (patched) 
Running main() from /opt/ros2_asan_ws/install-asan/gtest_vendor/src/gtest_vendor/src/gtest_main.cc
[==========] Running 14 tests from 2 test cases.
[----------] Global test environment set-up.
[----------] 11 tests from TestGraphFixture__rmw_fastrtps_cpp
[ RUN      ] TestGraphFixture__rmw_fastrtps_cpp.test_rcl_get_and_destroy_topic_names_and_types
[       OK ] TestGraphFixture__rmw_fastrtps_cpp.test_rcl_get_and_destroy_topic_names_and_types (29 ms)
[ RUN      ] TestGraphFixture__rmw_fastrtps_cpp.test_rcl_get_service_names_and_types
[       OK ] TestGraphFixture__rmw_fastrtps_cpp.test_rcl_get_service_names_and_types (20 ms)
[ RUN      ] TestGraphFixture__rmw_fastrtps_cpp.test_rcl_names_and_types_init
[       OK ] TestGraphFixture__rmw_fastrtps_cpp.test_rcl_names_and_types_init (17 ms)
[ RUN      ] TestGraphFixture__rmw_fastrtps_cpp.test_rcl_get_publisher_names_and_types_by_node
[ERROR] [rmw_fastrtps_shared_cpp]: Unable to find GUID for node:
[ERROR] [rmw_fastrtps_shared_cpp]: Unable to find GUID for node: _InvalidNodeName
[ERROR] [rmw_fastrtps_shared_cpp]: Unable to find GUID for node: /test_rcl_get_publisher_names_and_types_by_node
[       OK ] TestGraphFixture__rmw_fastrtps_cpp.test_rcl_get_publisher_names_and_types_by_node (18 ms)
[ RUN      ] TestGraphFixture__rmw_fastrtps_cpp.test_rcl_get_subscriber_names_and_types_by_node
[ERROR] [rmw_fastrtps_shared_cpp]: Unable to find GUID for node:
[ERROR] [rmw_fastrtps_shared_cpp]: Unable to find GUID for node: _InvalidNodeName
[ERROR] [rmw_fastrtps_shared_cpp]: Unable to find GUID for node: /test_rcl_get_subscriber_names_and_types_by_node
[       OK ] TestGraphFixture__rmw_fastrtps_cpp.test_rcl_get_subscriber_names_and_types_by_node (19 ms)
[ RUN      ] TestGraphFixture__rmw_fastrtps_cpp.test_rcl_get_service_names_and_types_by_node
[ERROR] [rmw_fastrtps_shared_cpp]: Unable to find GUID for node:
[ERROR] [rmw_fastrtps_shared_cpp]: Unable to find GUID for node: _InvalidNodeName
[ERROR] [rmw_fastrtps_shared_cpp]: Unable to find GUID for node: /test_rcl_get_service_names_and_types_by_node
[       OK ] TestGraphFixture__rmw_fastrtps_cpp.test_rcl_get_service_names_and_types_by_node (21 ms)
[ RUN      ] TestGraphFixture__rmw_fastrtps_cpp.test_rcl_count_publishers
[       OK ] TestGraphFixture__rmw_fastrtps_cpp.test_rcl_count_publishers (15 ms)
[ RUN      ] TestGraphFixture__rmw_fastrtps_cpp.test_rcl_count_subscribers
[       OK ] TestGraphFixture__rmw_fastrtps_cpp.test_rcl_count_subscribers (21 ms)
[ RUN      ] TestGraphFixture__rmw_fastrtps_cpp.test_graph_query_functions
[INFO] [rcl]:  Try 1: 0 publishers, 0 subscribers, and that the topic is not in the graph.
[INFO] [rcl]:   state correct!
[INFO] [rcl]:  Try 1: 1 publishers, 0 subscribers, and that the topic is in the graph.
[INFO] [rcl]:   state correct!
[INFO] [rcl]:  Try 1: 1 publishers, 1 subscribers, and that the topic is in the graph.
[INFO] [rcl]:   state correct!
[INFO] [rcl]:  Try 1: 0 publishers, 1 subscribers, and that the topic is in the graph.
[INFO] [rcl]:   state correct!
[INFO] [rcl]:  Try 1: 0 publishers, 0 subscribers, and that the topic is not in the graph.
[INFO] [rcl]:   state correct!
[       OK ] TestGraphFixture__rmw_fastrtps_cpp.test_graph_query_functions (22 ms)
[ RUN      ] TestGraphFixture__rmw_fastrtps_cpp.test_graph_guard_condition_topics
[INFO] [rcl]: waiting up to '400000000' nanoseconds for graph changes
[INFO] [rcl]: waiting up to '400000000' nanoseconds for graph changes
[INFO] [rcl]: waiting up to '400000000' nanoseconds for graph changes
[INFO] [rcl]: waiting up to '400000000' nanoseconds for graph changes
[INFO] [rcl]: waiting up to '400000000' nanoseconds for graph changes
[INFO] [rcl]: waiting up to '400000000' nanoseconds for graph changes
[       OK ] TestGraphFixture__rmw_fastrtps_cpp.test_graph_guard_condition_topics (1237 ms)
[ RUN      ] TestGraphFixture__rmw_fastrtps_cpp.test_rcl_service_server_is_available
[INFO] [rcl]: waiting up to '1000000000' nanoseconds for graph changes
[INFO] [rcl]: waiting up to '1000000000' nanoseconds for graph changes
[       OK ] TestGraphFixture__rmw_fastrtps_cpp.test_rcl_service_server_is_available (31 ms)
[----------] 11 tests from TestGraphFixture__rmw_fastrtps_cpp (1451 ms total)

[----------] 3 tests from NodeGraphMultiNodeFixture
[ RUN      ] NodeGraphMultiNodeFixture.test_node_info_subscriptions
[       OK ] NodeGraphMultiNodeFixture.test_node_info_subscriptions (1041 ms)
[ RUN      ] NodeGraphMultiNodeFixture.test_node_info_publishers
[       OK ] NodeGraphMultiNodeFixture.test_node_info_publishers (1041 ms)
[ RUN      ] NodeGraphMultiNodeFixture.test_node_info_services
[       OK ] NodeGraphMultiNodeFixture.test_node_info_services (1039 ms)
[----------] 3 tests from NodeGraphMultiNodeFixture (3121 ms total)

[----------] Global test environment tear-down
[==========] 14 tests from 2 test cases ran. (4572 ms total)
[  PASSED  ] 14 tests.

Leak discussion and debugging at https://github.com/vmayoral/basic_robot_cybersecurity/tree/master/robot_vulnerabilities/tutorial3

@clalancette
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@vmayoral Can you add a sign-off line to the commit and force-push it? It is currently failing the DCO check. In the meantime, I'll kick off CI for this.

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CI:

  • Linux Build Status
  • Linux-aarch64 Build Status
  • macOS Build Status
  • Windows Build Status

clalancette
clalancette approved these changes Jul 1, 2019
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Green CI, code looks good. Just needs a fixed DCO, then we can merge.

@vmayoral
Fix memory leak of 56 bytes in test_graph
896c8bb 
test_rcl_get_publisher_names_and_types_by_node was finalizing
without calling to rcl_names_and_types_fini which was
generating a memory leak.

These lines fix the leak. Complete report in the pull request

Signed-off-by: Víctor Mayoral Vilches <v.mayoralv@gmail.com>
@vmayoral vmayoral force-pushed the memory-leak-test-graph-clean branch from ec0e62c to 896c8bb Compare July 1, 2019 15:56
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vmayoral commented Jul 1, 2019

My bad @clalancette, DCO done.

@clalancette clalancette merged commit 34310df into ros2:master Jul 1, 2019
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My bad @clalancette, DCO done.

Thanks!

@vmayoral vmayoral mentioned this pull request Sep 25, 2019
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@vmayoral vmayoral mentioned this pull request Jan 16, 2020
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