Cdds[Client/Service] created in rmw_create_[client/service] not destroyed after rmw_destroy_[client/service]

[iuhilnehc-ynos]

Bug report

Required Info:

• Operating System:
  • Ubuntu 20.04
• Installation type:
  • source
• Version or commit hash:
  • a07553e
• DDS implementation:
  • rmw_cyclonedds_cpp
• Client library (if applicable):
  • rcl

Steps to reproduce issue

$ colcon build --cmake-args -DCMAKE_BUILD_TYPE=Debug --packages-up-to rcl
$ . install/setup.bash
$ valgrind --leak-check=full ./build/rcl/test/test_client__rmw_cyclonedds_cpp

Expected behavior

No memory leak

Actual behavior

memory leak via valgrind

==252190== 136 (32 direct, 104 indirect) bytes in 1 blocks are definitely lost in loss record 12 of 26
==252190==    at 0x483DE63: operator new(unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==252190==    by 0x51819DC: rmw_create_client (rmw_node.cpp:3873)
==252190==    by 0x4860929: rcl_client_init (client.c:169)
==252190==    by 0x17819C: TestClientFixture_test_client_nominal_Test::TestBody() (test_client.cpp:84)
==252190==    by 0x1B5D43: void testing::internal::HandleSehExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) (gtest.cc:2447)
==252190==    by 0x1AE596: void testing::internal::HandleExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) (gtest.cc:2483)
==252190==    by 0x189B3F: testing::Test::Run() (gtest.cc:2522)
==252190==    by 0x18A538: testing::TestInfo::Run() (gtest.cc:2703)
==252190==    by 0x18AC29: testing::TestCase::Run() (gtest.cc:2825)
==252190==    by 0x196312: testing::internal::UnitTestImpl::RunAllTests() (gtest.cc:5216)
==252190==    by 0x1B723D: bool testing::internal::HandleSehExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) (gtest.cc:2447)
==252190==    by 0x1AF6AA: bool testing::internal::HandleExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) (gtest.cc:2483)
==252190== 
==252190== 136 (32 direct, 104 indirect) bytes in 1 blocks are definitely lost in loss record 13 of 26
==252190==    at 0x483DE63: operator new(unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==252190==    by 0x51819DC: rmw_create_client (rmw_node.cpp:3873)
==252190==    by 0x4860929: rcl_client_init (client.c:169)
==252190==    by 0x17930D: TestClientFixture_test_client_init_fini_Test::TestBody() (test_client.cpp:153)
==252190==    by 0x1B5D43: void testing::internal::HandleSehExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) (gtest.cc:2447)
==252190==    by 0x1AE596: void testing::internal::HandleExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) (gtest.cc:2483)
==252190==    by 0x189B3F: testing::Test::Run() (gtest.cc:2522)
==252190==    by 0x18A538: testing::TestInfo::Run() (gtest.cc:2703)
==252190==    by 0x18AC29: testing::TestCase::Run() (gtest.cc:2825)
==252190==    by 0x196312: testing::internal::UnitTestImpl::RunAllTests() (gtest.cc:5216)
==252190==    by 0x1B723D: bool testing::internal::HandleSehExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) (gtest.cc:2447)
==252190==    by 0x1AF6AA: bool testing::internal::HandleExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) (gtest.cc:2483)

[iuhilnehc-ynos]

After fixing Cdds[Client/Service], detect some other memory leak about CddsPublisher/CddsSubscription in rmw_init_cs,

rmw_cyclonedds/rmw_cyclonedds_cpp/src/rmw_node.cpp

Lines 3707 to 3708 in a07553e

	auto pub = new CddsPublisher();
	auto sub = new CddsSubscription();

continue to fix them.