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Add missing logic to dynamic RMW client implementation #254

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Jan 15, 2019
Merged

Add missing logic to dynamic RMW client implementation #254

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9 changes: 8 additions & 1 deletion rmw_fastrtps_dynamic_cpp/src/rmw_client.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -95,6 +95,8 @@ rmw_create_client(
info = new CustomClientInfo();
info->participant_ = participant;
info->typesupport_identifier_ = type_support->typesupport_identifier;
info->request_publisher_matched_count_ = 0;
info->response_subscriber_matched_count_ = 0;

const void * untyped_request_members;
const void * untyped_response_members;
Expand Down Expand Up @@ -183,8 +185,9 @@ rmw_create_client(
RMW_SET_ERROR_MSG("failed to get datawriter qos");
goto fail;
}
info->pub_listener_ = new ClientPubListener(info);
info->request_publisher_ =
Domain::createPublisher(participant, publisherParam, nullptr);
Domain::createPublisher(participant, publisherParam, info->pub_listener_);
if (!info->request_publisher_) {
RMW_SET_ERROR_MSG("create_publisher() could not create publisher");
goto fail;
Expand Down Expand Up @@ -220,6 +223,10 @@ rmw_create_client(
Domain::removeSubscriber(info->response_subscriber_);
}

if (info->pub_listener_ != nullptr) {
delete info->pub_listener_;
}

if (info->listener_ != nullptr) {
delete info->listener_;
}
Expand Down