Fix memory leak in the ros2_control (#2033)

ros-controls · Feb 7, 2025 · 7406bdc · 7406bdc
1 parent dab91b1
commit 7406bdc
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Showing 13 changed files with 21 additions and 45 deletions.
diff --git a/hardware_interface/include/hardware_interface/actuator.hpp b/hardware_interface/include/hardware_interface/actuator.hpp
@@ -72,9 +72,9 @@ class Actuator final
     const std::vector<std::string> & start_interfaces,
     const std::vector<std::string> & stop_interfaces);
 
-  std::string get_name() const;
+  const std::string & get_name() const;
 
-  std::string get_group_name() const;
+  const std::string & get_group_name() const;
 
   const rclcpp_lifecycle::State & get_lifecycle_state() const;
 

diff --git a/hardware_interface/include/hardware_interface/actuator_interface.hpp b/hardware_interface/include/hardware_interface/actuator_interface.hpp
@@ -461,13 +461,13 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
   /**
    * \return name.
    */
-  virtual std::string get_name() const { return info_.name; }
+  const std::string & get_name() const { return info_.name; }
 
   /// Get name of the actuator hardware group to which it belongs to.
   /**
    * \return group name.
    */
-  virtual std::string get_group_name() const { return info_.group; }
+  const std::string & get_group_name() const { return info_.group; }
 
   /// Get life-cycle state of the actuator hardware.
   /**

diff --git a/hardware_interface/include/hardware_interface/hardware_info.hpp b/hardware_interface/include/hardware_interface/hardware_info.hpp
@@ -158,11 +158,11 @@ struct InterfaceDescription
    */
   std::string interface_name;
 
-  std::string get_prefix_name() const { return prefix_name; }
+  const std::string & get_prefix_name() const { return prefix_name; }
 
-  std::string get_interface_name() const { return interface_info.name; }
+  const std::string & get_interface_name() const { return interface_info.name; }
 
-  std::string get_name() const { return interface_name; }
+  const std::string & get_name() const { return interface_name; }
 };
 
 /// This structure stores information about hardware defined in a robot's URDF.

diff --git a/hardware_interface/include/hardware_interface/sensor.hpp b/hardware_interface/include/hardware_interface/sensor.hpp
@@ -62,9 +62,9 @@ class Sensor final
 
   std::vector<StateInterface::ConstSharedPtr> export_state_interfaces();
 
-  std::string get_name() const;
+  const std::string & get_name() const;
 
-  std::string get_group_name() const;
+  const std::string & get_group_name() const;
 
   const rclcpp_lifecycle::State & get_lifecycle_state() const;
 

diff --git a/hardware_interface/include/hardware_interface/sensor_interface.hpp b/hardware_interface/include/hardware_interface/sensor_interface.hpp
@@ -275,13 +275,13 @@ class SensorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
   /**
    * \return name.
    */
-  virtual std::string get_name() const { return info_.name; }
+  const std::string & get_name() const { return info_.name; }
 
   /// Get name of the actuator hardware group to which it belongs to.
   /**
    * \return group name.
    */
-  virtual std::string get_group_name() const { return info_.group; }
+  const std::string & get_group_name() const { return info_.group; }
 
   /// Get life-cycle state of the actuator hardware.
   /**

diff --git a/hardware_interface/include/hardware_interface/system.hpp b/hardware_interface/include/hardware_interface/system.hpp
@@ -72,9 +72,9 @@ class System final
     const std::vector<std::string> & start_interfaces,
     const std::vector<std::string> & stop_interfaces);
 
-  std::string get_name() const;
+  const std::string & get_name() const;
 
-  std::string get_group_name() const;
+  const std::string & get_group_name() const;
 
   const rclcpp_lifecycle::State & get_lifecycle_state() const;
 

diff --git a/hardware_interface/include/hardware_interface/system_interface.hpp b/hardware_interface/include/hardware_interface/system_interface.hpp
@@ -490,13 +490,13 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
   /**
    * \return name.
    */
-  virtual std::string get_name() const { return info_.name; }
+  const std::string & get_name() const { return info_.name; }
 
   /// Get name of the actuator hardware group to which it belongs to.
   /**
    * \return group name.
    */
-  virtual std::string get_group_name() const { return info_.group; }
+  const std::string & get_group_name() const { return info_.group; }
 
   /// Get life-cycle state of the actuator hardware.
   /**

diff --git a/hardware_interface/src/actuator.cpp b/hardware_interface/src/actuator.cpp
@@ -277,9 +277,9 @@ return_type Actuator::perform_command_mode_switch(
   return impl_->perform_command_mode_switch(start_interfaces, stop_interfaces);
 }
 
-std::string Actuator::get_name() const { return impl_->get_name(); }
+const std::string & Actuator::get_name() const { return impl_->get_name(); }
 
-std::string Actuator::get_group_name() const { return impl_->get_group_name(); }
+const std::string & Actuator::get_group_name() const { return impl_->get_group_name(); }
 
 const rclcpp_lifecycle::State & Actuator::get_lifecycle_state() const
 {

diff --git a/hardware_interface/src/sensor.cpp b/hardware_interface/src/sensor.cpp
@@ -233,9 +233,9 @@ std::vector<StateInterface::ConstSharedPtr> Sensor::export_state_interfaces()
   // END: for backward compatibility
 }
 
-std::string Sensor::get_name() const { return impl_->get_name(); }
+const std::string & Sensor::get_name() const { return impl_->get_name(); }
 
-std::string Sensor::get_group_name() const { return impl_->get_group_name(); }
+const std::string & Sensor::get_group_name() const { return impl_->get_group_name(); }
 
 const rclcpp_lifecycle::State & Sensor::get_lifecycle_state() const
 {

diff --git a/hardware_interface/src/system.cpp b/hardware_interface/src/system.cpp
@@ -275,9 +275,9 @@ return_type System::perform_command_mode_switch(
   return impl_->perform_command_mode_switch(start_interfaces, stop_interfaces);
 }
 
-std::string System::get_name() const { return impl_->get_name(); }
+const std::string & System::get_name() const { return impl_->get_name(); }
 
-std::string System::get_group_name() const { return impl_->get_group_name(); }
+const std::string & System::get_group_name() const { return impl_->get_group_name(); }
 
 const rclcpp_lifecycle::State & System::get_lifecycle_state() const
 {

diff --git a/hardware_interface/test/test_component_interfaces.cpp b/hardware_interface/test/test_component_interfaces.cpp
@@ -101,8 +101,6 @@ class DummyActuator : public hardware_interface::ActuatorInterface
     return command_interfaces;
   }
 
-  std::string get_name() const override { return "DummyActuator"; }
-
   hardware_interface::return_type read(
     const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) override
   {
@@ -193,8 +191,6 @@ class DummyActuatorDefault : public hardware_interface::ActuatorInterface
     return CallbackReturn::SUCCESS;
   }
 
-  std::string get_name() const override { return "DummyActuatorDefault"; }
-
   hardware_interface::return_type read(
     const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) override
   {
@@ -276,8 +272,6 @@ class DummySensor : public hardware_interface::SensorInterface
     return state_interfaces;
   }
 
-  std::string get_name() const override { return "DummySensor"; }
-
   hardware_interface::return_type read(
     const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) override
   {
@@ -337,8 +331,6 @@ class DummySensorDefault : public hardware_interface::SensorInterface
     return CallbackReturn::SUCCESS;
   }
 
-  std::string get_name() const override { return "DummySensorDefault"; }
-
   hardware_interface::return_type read(
     const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) override
   {
@@ -397,8 +389,6 @@ class DummySensorJointDefault : public hardware_interface::SensorInterface
     return CallbackReturn::SUCCESS;
   }
 
-  std::string get_name() const override { return "DummySensorJointDefault"; }
-
   hardware_interface::return_type read(
     const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) override
   {
@@ -502,8 +492,6 @@ class DummySystem : public hardware_interface::SystemInterface
     return command_interfaces;
   }
 
-  std::string get_name() const override { return "DummySystem"; }
-
   hardware_interface::return_type read(
     const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) override
   {
@@ -608,8 +596,6 @@ class DummySystemDefault : public hardware_interface::SystemInterface
     return CallbackReturn::SUCCESS;
   }
 
-  std::string get_name() const override { return "DummySystemDefault"; }
-
   hardware_interface::return_type read(
     const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) override
   {
@@ -687,8 +673,6 @@ class DummySystemPreparePerform : public hardware_interface::SystemInterface
     return CallbackReturn::SUCCESS;
   }
 
-  std::string get_name() const override { return "DummySystemPreparePerform"; }
-
   hardware_interface::return_type read(
     const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) override
   {

diff --git a/hardware_interface/test/test_component_interfaces_custom_export.cpp b/hardware_interface/test/test_component_interfaces_custom_export.cpp
@@ -54,8 +54,6 @@ using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface
 
 class DummyActuatorDefault : public hardware_interface::ActuatorInterface
 {
-  std::string get_name() const override { return "DummyActuatorDefault"; }
-
   std::vector<hardware_interface::InterfaceDescription>
   export_unlisted_state_interface_descriptions() override
   {
@@ -95,8 +93,6 @@ class DummyActuatorDefault : public hardware_interface::ActuatorInterface
 
 class DummySensorDefault : public hardware_interface::SensorInterface
 {
-  std::string get_name() const override { return "DummySensorDefault"; }
-
   std::vector<hardware_interface::InterfaceDescription>
   export_unlisted_state_interface_descriptions() override
   {
@@ -118,8 +114,6 @@ class DummySensorDefault : public hardware_interface::SensorInterface
 
 class DummySystemDefault : public hardware_interface::SystemInterface
 {
-  std::string get_name() const override { return "DummySystemDefault"; }
-
   std::vector<hardware_interface::InterfaceDescription>
   export_unlisted_state_interface_descriptions() override
   {

diff --git a/hardware_interface_testing/test/test_resource_manager.cpp b/hardware_interface_testing/test/test_resource_manager.cpp
@@ -371,8 +371,6 @@ class ExternalComponent : public hardware_interface::ActuatorInterface
     return command_interfaces;
   }
 
-  std::string get_name() const override { return "ExternalComponent"; }
-
   hardware_interface::return_type read(
     const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) override
   {