From 645138b3542e6300c9b160e086f2840bb094841d Mon Sep 17 00:00:00 2001
From: Stephen Brawner <brawner@gmail.com>
Date: Tue, 28 Jul 2020 17:22:51 -0700
Subject: [PATCH] Tweaks to client.c and subscription.c for cleaner init/fini

Signed-off-by: Stephen Brawner <brawner@gmail.com>
---
 rcl/src/rcl/client.c       | 2 ++
 rcl/src/rcl/subscription.c | 3 +++
 2 files changed, 5 insertions(+)

diff --git a/rcl/src/rcl/client.c b/rcl/src/rcl/client.c
index 9bf70dc4a..2854e6126 100644
--- a/rcl/src/rcl/client.c
+++ b/rcl/src/rcl/client.c
@@ -222,7 +222,9 @@ rcl_client_fini(rcl_client_t * client, rcl_node_t * node)
       RCL_SET_ERROR_MSG(rmw_get_error_string().str);
       result = RCL_RET_ERROR;
     }
+
     allocator.deallocate(client->impl, allocator.state);
+    client->impl = NULL;
   }
   RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Client finalized");
   return result;
diff --git a/rcl/src/rcl/subscription.c b/rcl/src/rcl/subscription.c
index 2e3b37d38..b5b644621 100644
--- a/rcl/src/rcl/subscription.c
+++ b/rcl/src/rcl/subscription.c
@@ -156,6 +156,7 @@ rcl_subscription_init(
   RCL_CHECK_FOR_NULL_WITH_MSG(
     subscription->impl, "allocating memory failed", ret = RCL_RET_BAD_ALLOC; goto cleanup);
   // Fill out the implemenation struct.
+
   // rmw_handle
   // TODO(wjwwood): pass allocator once supported in rmw api.
   subscription->impl->rmw_handle = rmw_create_subscription(
@@ -194,6 +195,7 @@ rcl_subscription_init(
 fail:
   if (subscription->impl) {
     allocator->deallocate(subscription->impl, allocator->state);
+    subscription->impl = NULL;
   }
   ret = fail_ret;
   // Fall through to cleanup
@@ -229,6 +231,7 @@ rcl_subscription_fini(rcl_subscription_t * subscription, rcl_node_t * node)
       result = RCL_RET_ERROR;
     }
     allocator.deallocate(subscription->impl, allocator.state);
+    subscription->impl = NULL;
   }
   RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Subscription finalized");
   return result;