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Merged
SteveMacenski merged 12 commits into from
Aug 25, 2020
Merged

Fix memory leak #1900

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b56b78f
Fix memory leak in nav2_recoveries
naiveHobo Jul 31, 2020
cc56e2a
Fix recovery server memory leak (better interface)
naiveHobo Aug 10, 2020
08a598d
Fix costmap2d memory leak
naiveHobo Aug 10, 2020
b990bc9
Fix nav2_navfn_planner memory leak
naiveHobo Aug 10, 2020
bfdf4e9
Fix planner server and navfn planner memory leak
naiveHobo Aug 10, 2020
151bc6f
Make all rclcpp::Node::SharedPtr argument passing const
naiveHobo Aug 10, 2020
4e888b3
Fix controller server and DWB plugins memory leak
naiveHobo Aug 10, 2020
5d23e33
Minor fixes
naiveHobo Aug 11, 2020
aeae2cc
Fix formatting errors
naiveHobo Aug 11, 2020
8942273
Change all plugin interfaces to use weak_ptr intead of shared_ptr to …
naiveHobo Aug 14, 2020
0722a30
Convert all SharedPtr to WeakPtr
naiveHobo Aug 14, 2020
45775b3
Check shared_ptr after lock and before dereferencing
naiveHobo Aug 24, 2020
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1 change: 0 additions & 1 deletion nav2_amcl/src/amcl_node.cpp
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Expand Up @@ -225,7 +225,6 @@ AmclNode::AmclNode()

AmclNode::~AmclNode()
{
RCLCPP_INFO(get_logger(), "Destroying");
}

nav2_util::CallbackReturn
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2 changes: 2 additions & 0 deletions nav2_bringup/bringup/params/nav2_multirobot_params_1.yaml
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Expand Up @@ -69,6 +69,8 @@ bt_navigator:
- nav2_rate_controller_bt_node
- nav2_distance_controller_bt_node
- nav2_speed_controller_bt_node
- nav2_truncate_path_action_bt_node
- nav2_goal_updater_node_bt_node
- nav2_recovery_node_bt_node
- nav2_pipeline_sequence_bt_node
- nav2_transform_available_condition_bt_node
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2 changes: 2 additions & 0 deletions nav2_bringup/bringup/params/nav2_multirobot_params_2.yaml
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Expand Up @@ -69,6 +69,8 @@ bt_navigator:
- nav2_rate_controller_bt_node
- nav2_distance_controller_bt_node
- nav2_speed_controller_bt_node
- nav2_truncate_path_action_bt_node
- nav2_goal_updater_node_bt_node
- nav2_recovery_node_bt_node
- nav2_pipeline_sequence_bt_node
- nav2_transform_available_condition_bt_node
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5 changes: 3 additions & 2 deletions nav2_bt_navigator/include/nav2_bt_navigator/ros_topic_logger.hpp
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Expand Up @@ -27,7 +27,7 @@ namespace nav2_bt_navigator
class RosTopicLogger : public BT::StatusChangeLogger
{
public:
RosTopicLogger(const rclcpp::Node::SharedPtr & ros_node, const BT::Tree & tree);
RosTopicLogger(const rclcpp::Node::WeakPtr & ros_node, const BT::Tree & tree);

void callback(
BT::Duration timestamp,
Expand All @@ -38,7 +38,8 @@ class RosTopicLogger : public BT::StatusChangeLogger
void flush() override;

protected:
rclcpp::Node::SharedPtr ros_node_;
rclcpp::Clock::SharedPtr clock_;
rclcpp::Logger logger_{rclcpp::get_logger("bt_navigator")};
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@mikeferguson mikeferguson Aug 18, 2020

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it might be worth noting on these that the names won't actually be used (right? cause these get overwritten in the constructor once we have the SharedPtr?). I could see someone getting confused if they expect the logger to have this name but instead it has the name of whatever the node has been named at runtime.

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@naiveHobo naiveHobo Aug 20, 2020

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I think the idea here was to default the logger object to a reasonable name in case the logger object isn't overridden by a user since a lot of the places that use the logger object are plugin interfaces that could be further implemented by an external user.

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@SteveMacenski SteveMacenski Aug 20, 2020

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I would agree with @mikeferguson, if we were going to set them, then I think this is the way to do it, but I think we should ensure that they're always set properly from the node. For the case of new plugins, they'll be given a new WeakPtr for them to own and they'll need to store their own logger_ to use. For everything in the codebase itself, we should ensure that its always properly set so that it respects remaps.

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@SteveMacenski SteveMacenski Aug 20, 2020

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This is a nice safety mechanism for the specific nodes where that mistake may be possible (costmap_2d comes to mind). I'm not sure that is possible in other places like this instance. We "own" BT navigator's node and logger object, there's no plugin coming along to not properly initialize it

rclcpp::Publisher<nav2_msgs::msg::BehaviorTreeLog>::SharedPtr log_pub_;
std::vector<nav2_msgs::msg::BehaviorTreeStatusChange> event_log_;
};
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6 changes: 2 additions & 4 deletions nav2_bt_navigator/src/bt_navigator.cpp
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Expand Up @@ -16,7 +16,6 @@

#include <fstream>
#include <memory>
#include <streambuf>
#include <string>
#include <utility>
#include <vector>
Expand Down Expand Up @@ -52,7 +51,7 @@ BtNavigator::BtNavigator()
"nav2_distance_controller_bt_node",
"nav2_speed_controller_bt_node",
"nav2_truncate_path_action_bt_node",
"nav2_change_goal_node_bt_node",
"nav2_goal_updater_node_bt_node",
"nav2_recovery_node_bt_node",
"nav2_pipeline_sequence_bt_node",
"nav2_round_robin_node_bt_node",
Expand All @@ -72,7 +71,6 @@ BtNavigator::BtNavigator()

BtNavigator::~BtNavigator()
{
RCLCPP_INFO(get_logger(), "Destroying");
}

nav2_util::CallbackReturn
Expand Down Expand Up @@ -252,7 +250,7 @@ BtNavigator::navigateToPose()
auto bt_xml_filename = action_server_->get_current_goal()->behavior_tree;

// Empty id in request is default for backward compatibility
bt_xml_filename = bt_xml_filename == "" ? default_bt_xml_filename_ : bt_xml_filename;
bt_xml_filename = bt_xml_filename.empty() ? default_bt_xml_filename_ : bt_xml_filename;

if (!loadBehaviorTree(bt_xml_filename)) {
RCLCPP_ERROR(
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15 changes: 9 additions & 6 deletions nav2_bt_navigator/src/ros_topic_logger.cpp
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Expand Up @@ -21,10 +21,13 @@ namespace nav2_bt_navigator
{

RosTopicLogger::RosTopicLogger(
const rclcpp::Node::SharedPtr & ros_node, const BT::Tree & tree)
: StatusChangeLogger(tree.rootNode()), ros_node_(ros_node)
const rclcpp::Node::WeakPtr & ros_node, const BT::Tree & tree)
: StatusChangeLogger(tree.rootNode())
{
log_pub_ = ros_node_->create_publisher<nav2_msgs::msg::BehaviorTreeLog>(
auto node = ros_node.lock();
clock_ = node->get_clock();
logger_ = node->get_logger();
log_pub_ = node->create_publisher<nav2_msgs::msg::BehaviorTreeLog>(
"behavior_tree_log",
rclcpp::QoS(10));
}
Expand All @@ -51,7 +54,7 @@ void RosTopicLogger::callback(
event_log_.push_back(std::move(event));

RCLCPP_DEBUG(
ros_node_->get_logger(), "[%.3f]: %25s %s -> %s",
logger_, "[%.3f]: %25s %s -> %s",
std::chrono::duration<double>(timestamp).count(),
node.name().c_str(),
toStr(prev_status, true).c_str(),
Expand All @@ -60,9 +63,9 @@ void RosTopicLogger::callback(

void RosTopicLogger::flush()
{
if (event_log_.size() > 0) {
if (!event_log_.empty()) {
auto log_msg = std::make_unique<nav2_msgs::msg::BehaviorTreeLog>();
log_msg->timestamp = ros_node_->now();
log_msg->timestamp = clock_->now();
log_msg->event_log = event_log_;
log_pub_->publish(std::move(log_msg));
event_log_.clear();
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2 changes: 1 addition & 1 deletion nav2_controller/include/nav2_controller/plugins/simple_goal_checker.hpp
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Expand Up @@ -58,7 +58,7 @@ class SimpleGoalChecker : public nav2_core::GoalChecker
SimpleGoalChecker();
// Standard GoalChecker Interface
void initialize(
const rclcpp_lifecycle::LifecycleNode::SharedPtr & nh,
const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
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@SteveMacenski SteveMacenski Aug 17, 2020

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For all instances: I don't think its generally best practice to pass smart pointers by reference. Weak ptrs might be different, but I don't see any documentation about that. Why not have the weakptr be by value?

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@SteveMacenski SteveMacenski Aug 17, 2020

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From this comment: #1900 (comment) what you say makes sense to me, but the conventions around smart pointers are the opposite. We should discuss this and then resolve one way or another.

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@mikeferguson mikeferguson Aug 18, 2020

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Passing shared_ptrs by reference makes sense (to avoid the overhead of incrementing and then decrementing the reference count). For a weak_ptr though, it doesn't have the same overhead - although the multiple copy/initialization argument does seem to make since for this use case.

const std::string & plugin_name) override;
void reset() override;
bool isGoalReached(
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4 changes: 2 additions & 2 deletions nav2_controller/include/nav2_controller/plugins/simple_progress_checker.hpp
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Expand Up @@ -34,7 +34,7 @@ class SimpleProgressChecker : public nav2_core::ProgressChecker
{
public:
void initialize(
const rclcpp_lifecycle::LifecycleNode::SharedPtr & node,
const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
const std::string & plugin_name) override;
bool check(geometry_msgs::msg::PoseStamped & current_pose) override;
void reset() override;
Expand All @@ -52,7 +52,7 @@ class SimpleProgressChecker : public nav2_core::ProgressChecker
*/
void reset_baseline_pose(const geometry_msgs::msg::Pose2D & pose);

rclcpp_lifecycle::LifecycleNode::SharedPtr nh_;
rclcpp::Clock::SharedPtr clock_;

double radius_;
rclcpp::Duration time_allowance_{0, 0};
Expand Down
2 changes: 1 addition & 1 deletion nav2_controller/include/nav2_controller/plugins/stopped_goal_checker.hpp
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Expand Up @@ -55,7 +55,7 @@ class StoppedGoalChecker : public SimpleGoalChecker
StoppedGoalChecker();
// Standard GoalChecker Interface
void initialize(
const rclcpp_lifecycle::LifecycleNode::SharedPtr & nh,
const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
const std::string & plugin_name) override;
bool isGoalReached(
const geometry_msgs::msg::Pose & query_pose, const geometry_msgs::msg::Pose & goal_pose,
Expand Down
16 changes: 9 additions & 7 deletions nav2_controller/plugins/simple_goal_checker.cpp
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Expand Up @@ -56,22 +56,24 @@ SimpleGoalChecker::SimpleGoalChecker()
}

void SimpleGoalChecker::initialize(
const rclcpp_lifecycle::LifecycleNode::SharedPtr & nh,
const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
const std::string & plugin_name)
{
auto node = parent.lock();

nav2_util::declare_parameter_if_not_declared(
nh,
node,
plugin_name + ".xy_goal_tolerance", rclcpp::ParameterValue(0.25));
nav2_util::declare_parameter_if_not_declared(
nh,
node,
plugin_name + ".yaw_goal_tolerance", rclcpp::ParameterValue(0.25));
nav2_util::declare_parameter_if_not_declared(
nh,
node,
plugin_name + ".stateful", rclcpp::ParameterValue(true));

nh->get_parameter(plugin_name + ".xy_goal_tolerance", xy_goal_tolerance_);
nh->get_parameter(plugin_name + ".yaw_goal_tolerance", yaw_goal_tolerance_);
nh->get_parameter(plugin_name + ".stateful", stateful_);
node->get_parameter(plugin_name + ".xy_goal_tolerance", xy_goal_tolerance_);
node->get_parameter(plugin_name + ".yaw_goal_tolerance", yaw_goal_tolerance_);
node->get_parameter(plugin_name + ".stateful", stateful_);

xy_goal_tolerance_sq_ = xy_goal_tolerance_ * xy_goal_tolerance_;
}
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28 changes: 12 additions & 16 deletions nav2_controller/plugins/simple_progress_checker.cpp
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Expand Up @@ -27,18 +27,21 @@ namespace nav2_controller
static double pose_distance(const geometry_msgs::msg::Pose2D &, const geometry_msgs::msg::Pose2D &);

void SimpleProgressChecker::initialize(
const rclcpp_lifecycle::LifecycleNode::SharedPtr & node,
const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
const std::string & plugin_name)
{
nh_ = node;
auto node = parent.lock();

clock_ = node->get_clock();

nav2_util::declare_parameter_if_not_declared(
nh_, plugin_name + ".required_movement_radius", rclcpp::ParameterValue(0.5));
node, plugin_name + ".required_movement_radius", rclcpp::ParameterValue(0.5));
nav2_util::declare_parameter_if_not_declared(
nh_, plugin_name + ".movement_time_allowance", rclcpp::ParameterValue(10.0));
node, plugin_name + ".movement_time_allowance", rclcpp::ParameterValue(10.0));
// Scale is set to 0 by default, so if it was not set otherwise, set to 0
nh_->get_parameter_or(plugin_name + ".required_movement_radius", radius_, 0.5);
node->get_parameter_or(plugin_name + ".required_movement_radius", radius_, 0.5);
double time_allowance_param = 0.0;
nh_->get_parameter_or(plugin_name + ".movement_time_allowance", time_allowance_param, 10.0);
node->get_parameter_or(plugin_name + ".movement_time_allowance", time_allowance_param, 10.0);
time_allowance_ = rclcpp::Duration::from_seconds(time_allowance_param);
}

Expand All @@ -53,10 +56,7 @@ bool SimpleProgressChecker::check(geometry_msgs::msg::PoseStamped & current_pose
reset_baseline_pose(current_pose2d);
return true;
}
if ((nh_->now() - baseline_time_) > time_allowance_) {
return false;
}
return true;
return !((clock_->now() - baseline_time_) > time_allowance_);
}

void SimpleProgressChecker::reset()
Expand All @@ -67,17 +67,13 @@ void SimpleProgressChecker::reset()
void SimpleProgressChecker::reset_baseline_pose(const geometry_msgs::msg::Pose2D & pose)
{
baseline_pose_ = pose;
baseline_time_ = nh_->now();
baseline_time_ = clock_->now();
baseline_pose_set_ = true;
}

bool SimpleProgressChecker::is_robot_moved_enough(const geometry_msgs::msg::Pose2D & pose)
{
if (pose_distance(pose, baseline_pose_) > radius_) {
return true;
} else {
return false;
}
return pose_distance(pose, baseline_pose_) > radius_;
}

static double pose_distance(
Expand Down
14 changes: 8 additions & 6 deletions nav2_controller/plugins/stopped_goal_checker.cpp
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Expand Up @@ -51,20 +51,22 @@ StoppedGoalChecker::StoppedGoalChecker()
}

void StoppedGoalChecker::initialize(
const rclcpp_lifecycle::LifecycleNode::SharedPtr & nh,
const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
const std::string & plugin_name)
{
SimpleGoalChecker::initialize(nh, plugin_name);
SimpleGoalChecker::initialize(parent, plugin_name);

auto node = parent.lock();

nav2_util::declare_parameter_if_not_declared(
nh,
node,
plugin_name + ".rot_stopped_velocity", rclcpp::ParameterValue(0.25));
nav2_util::declare_parameter_if_not_declared(
nh,
node,
plugin_name + ".trans_stopped_velocity", rclcpp::ParameterValue(0.25));

nh->get_parameter(plugin_name + ".rot_stopped_velocity", rot_stopped_velocity_);
nh->get_parameter(plugin_name + ".trans_stopped_velocity", trans_stopped_velocity_);
node->get_parameter(plugin_name + ".rot_stopped_velocity", rot_stopped_velocity_);
node->get_parameter(plugin_name + ".trans_stopped_velocity", trans_stopped_velocity_);
}

bool StoppedGoalChecker::isGoalReached(
Expand Down
10 changes: 4 additions & 6 deletions nav2_controller/src/nav2_controller.cpp
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Expand Up @@ -62,7 +62,9 @@ ControllerServer::ControllerServer()

ControllerServer::~ControllerServer()
{
RCLCPP_INFO(get_logger(), "Destroying");
progress_checker_.reset();
goal_checker_.reset();
controllers_.clear();
}

nav2_util::CallbackReturn
Expand All @@ -72,7 +74,6 @@ ControllerServer::on_configure(const rclcpp_lifecycle::State & state)

RCLCPP_INFO(get_logger(), "Configuring controller interface");


get_parameter("progress_checker_plugin", progress_checker_id_);
if (progress_checker_id_ == default_progress_checker_id_) {
nav2_util::declare_parameter_if_not_declared(
Expand Down Expand Up @@ -394,10 +395,7 @@ void ControllerServer::updateGlobalPath()
void ControllerServer::publishVelocity(const geometry_msgs::msg::TwistStamped & velocity)
{
auto cmd_vel = std::make_unique<geometry_msgs::msg::Twist>(velocity.twist);
if (
vel_publisher_->is_activated() &&
this->count_subscribers(vel_publisher_->get_topic_name()) > 0)
{
if (vel_publisher_->is_activated() && vel_publisher_->get_subscription_count() > 0) {
vel_publisher_->publish(std::move(cmd_vel));
}
}
Expand Down
2 changes: 1 addition & 1 deletion nav2_core/include/nav2_core/controller.hpp
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Expand Up @@ -72,7 +72,7 @@ class Controller
* @param costmap_ros A pointer to the costmap
*/
virtual void configure(
const rclcpp_lifecycle::LifecycleNode::SharedPtr &,
const rclcpp_lifecycle::LifecycleNode::WeakPtr &,
std::string name, const std::shared_ptr<tf2_ros::Buffer> &,
const std::shared_ptr<nav2_costmap_2d::Costmap2DROS> &) = 0;

Expand Down
2 changes: 1 addition & 1 deletion nav2_core/include/nav2_core/global_planner.hpp
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Expand Up @@ -48,7 +48,7 @@ class GlobalPlanner
* @param costmap_ros A pointer to the costmap
*/
virtual void configure(
rclcpp_lifecycle::LifecycleNode::SharedPtr parent,
const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
std::string name, std::shared_ptr<tf2_ros::Buffer> tf,
std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros) = 0;

Expand Down
4 changes: 2 additions & 2 deletions nav2_core/include/nav2_core/goal_checker.hpp
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Expand Up @@ -64,10 +64,10 @@ class GoalChecker

/**
* @brief Initialize any parameters from the NodeHandle
* @param nh NodeHandle for grabbing parameters
* @param parent Node pointer for grabbing parameters
*/
virtual void initialize(
const rclcpp_lifecycle::LifecycleNode::SharedPtr & nh,
const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
const std::string & plugin_name) = 0;
virtual void reset() = 0;
/**
Expand Down
4 changes: 2 additions & 2 deletions nav2_core/include/nav2_core/progress_checker.hpp
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Expand Up @@ -40,10 +40,10 @@ class ProgressChecker

/**
* @brief Initialize parameters for ProgressChecker
* @param node Node pointer
* @param parent Node pointer
*/
virtual void initialize(
const rclcpp_lifecycle::LifecycleNode::SharedPtr & node,
const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
const std::string & plugin_name) = 0;
/**
* @brief Checks if the robot has moved compare to previous
Expand Down
2 changes: 1 addition & 1 deletion nav2_core/include/nav2_core/recovery.hpp
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Expand Up @@ -47,7 +47,7 @@ class Recovery
* @param costmap_ros A pointer to the costmap
*/
virtual void configure(
const rclcpp_lifecycle::LifecycleNode::SharedPtr parent,
const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
const std::string & name, std::shared_ptr<tf2_ros::Buffer> tf,
std::shared_ptr<nav2_costmap_2d::CostmapTopicCollisionChecker> collision_checker) = 0;

Expand Down
6 changes: 3 additions & 3 deletions nav2_costmap_2d/include/nav2_costmap_2d/clear_costmap_service.hpp
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Expand Up @@ -34,7 +34,7 @@ class Costmap2DROS;
class ClearCostmapService
{
public:
ClearCostmapService(nav2_util::LifecycleNode::SharedPtr node, Costmap2DROS & costmap);
ClearCostmapService(const nav2_util::LifecycleNode::WeakPtr & parent, Costmap2DROS & costmap);

ClearCostmapService() = delete;

Expand All @@ -48,8 +48,8 @@ class ClearCostmapService
void clearEntirely();

private:
// The ROS node to use for getting parameters, creating the service and logging
nav2_util::LifecycleNode::SharedPtr node_;
// The Logger object for logging
rclcpp::Logger logger_{rclcpp::get_logger("nav2_costmap_2d")};

// The costmap to clear
Costmap2DROS & costmap_;
Expand Down
6 changes: 4 additions & 2 deletions nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_publisher.hpp
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Expand Up @@ -67,7 +67,7 @@ class Costmap2DPublisher
* @brief Constructor for the Costmap2DPublisher
*/
Costmap2DPublisher(
nav2_util::LifecycleNode::SharedPtr ros_node,
const nav2_util::LifecycleNode::WeakPtr & parent,
Costmap2D * costmap,
std::string global_frame,
std::string topic_name,
Expand Down Expand Up @@ -130,7 +130,9 @@ class Costmap2DPublisher
const std::shared_ptr<nav2_msgs::srv::GetCostmap::Request> request,
const std::shared_ptr<nav2_msgs::srv::GetCostmap::Response> response);

nav2_util::LifecycleNode::SharedPtr node_;
rclcpp::Clock::SharedPtr clock_;
rclcpp::Logger logger_{rclcpp::get_logger("nav2_costmap_2d")};

Costmap2D * costmap_;
std::string global_frame_;
std::string topic_name_;
Expand Down
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