Memory leak in client when using python wrapper to send request to se…

…rvice

  ros2/rclpy#822

Signed-off-by: Tomoya Fujita <[email protected]>

README.md

@@ -10,3 +10,7 @@ test sample to reproduce and investigate issues, easy to distribute.
 ## prover_rclpy
 
 [rclpy](https://github.com/ros2/rclpy) related issue and reproducible tests.
+
+### prover_interfaces
+
+only applied to prover packages.

prover_interfaces/CMakeLists.txt

@@ -0,0 +1,36 @@
+cmake_minimum_required(VERSION 3.8)
+project(prover_interfaces)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+set(srv_files
+  "srv/Huge.srv"
+)
+rosidl_generate_interfaces(${PROJECT_NAME}
+  ${srv_files}
+  ADD_LINTER_TESTS
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_package()

prover_interfaces/package.xml

@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>prover_interfaces</name>
+  <version>0.0.0</version>
+  <description>only applied to prover packages.</description>
+  <maintainer email="[email protected]">Tomoya Fujita</maintainer>
+  <license>Apache License 2.0</license>
+
+  <author email="[email protected]">Tomoya Fujita</author>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

prover_interfaces/srv/Huge.srv

@@ -0,0 +1,3 @@
+byte[1048576] input_tensor
+---
+byte[1048576] output_tensor

prover_rclpy/package.xml

@@ -14,6 +14,7 @@
   <exec_depend>example_interfaces</exec_depend>
   <exec_depend>rclpy</exec_depend>
   <exec_depend>std_msgs</exec_depend>
+  <exec_depend>prover_interfaces</exec_depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>

prover_rclpy/setup.cfg

@@ -1,4 +1,4 @@
 [develop]
-script-dir=$base/lib/prover_rclpy
+script_dir=$base/lib/prover_rclpy
 [install]
-install-scripts=$base/lib/prover_rclpy
+install_scripts=$base/lib/prover_rclpy

prover_rclpy/setup.py

@@ -37,6 +37,8 @@
             #'rclpy_585 = src.rclpy_585:main',
             #'rclpy_760 = src.rclpy_760:main',
             'rclpy_792 = src.rclpy_792:main',
+            'rclpy_client_822 = src.rclpy_client_822:main',
+            'rclpy_server_822 = src.rclpy_server_822:main',
         ],
     },
 )

prover_rclpy/src/rclpy_client_822.py

@@ -0,0 +1,50 @@
+import sys
+
+from prover_interfaces.srv import Huge
+import rclpy
+from rclpy.node import Node
+
+import time
+
+
+class MinimalClientAsync(Node):
+
+    def __init__(self):
+        super().__init__('minimal_client_async')
+        self.cli = self.create_client(Huge, 'huge')
+        while not self.cli.wait_for_service(timeout_sec=5.0):
+            self.get_logger().info('service not available, waiting again...')
+        self.req = Huge.Request()
+
+    def send_request(self):
+        self.future = self.cli.call_async(self.req)
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    minimal_client = MinimalClientAsync()
+    for _ in range(1000):
+        minimal_client.get_logger().info('Sending async request...')
+        minimal_client.send_request()
+
+        while rclpy.ok():
+            rclpy.spin_once(minimal_client)
+            time.sleep(0.1)
+            if minimal_client.future.done():
+                try:
+                    response = minimal_client.future.result()
+                except Exception as e:
+                    minimal_client.get_logger().info(
+                        'Service call failed %r' % (e,))
+                else:
+                    minimal_client.get_logger().info('Result received!!!')
+                break
+
+
+    minimal_client.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

prover_rclpy/src/rclpy_server_822.py

@@ -0,0 +1,36 @@
+import sys
+
+from prover_interfaces.srv import Huge
+import rclpy
+from rclpy.node import Node
+
+import time
+
+
+class MinimalServerAsync(Node):
+
+    def __init__(self):
+        super().__init__('minimal_server')
+        self.cli = self.create_service(Huge, 'huge', self.callback)
+
+    def callback(self, request, response):
+        self.get_logger().info('Incoming request...')
+        return response
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    minimal_server = MinimalServerAsync()
+
+    try:
+        rclpy.spin(minimal_server)
+    except KeyboardInterrupt:
+        pass
+
+    minimal_server.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()