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refactor: resolve TODO to use allocator for rmw_request_id_t in Gener… #3146

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refactor: resolve TODO to use allocator for rmw_request_id_t in Gener… #3146

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19 changes: 16 additions & 3 deletions rclcpp/src/rclcpp/generic_client.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,7 @@
#include "rosidl_runtime_c/service_type_support_struct.h"
#include "rosidl_typesupport_introspection_cpp/identifier.hpp"
#include "rosidl_typesupport_introspection_cpp/service_introspection.hpp"
#include "rcutils/allocator.h"

namespace rclcpp
{
Expand Down Expand Up @@ -90,9 +91,21 @@ GenericClient::create_response()
std::shared_ptr<rmw_request_id_t>
GenericClient::create_request_header()
{
// TODO(wjwwood): This should probably use rmw_request_id's allocator.
// (since it is a C type)
return std::shared_ptr<rmw_request_id_t>(new rmw_request_id_t);
rcutils_allocator_t allocator = rcutils_get_default_allocator();

rmw_request_id_t * request_header =
static_cast<rmw_request_id_t *>(allocator.zero_allocate(1, sizeof(rmw_request_id_t), allocator.state));

if (!request_header) {
throw std::bad_alloc();
}

return std::shared_ptr<rmw_request_id_t>(
request_header,
[allocator](rmw_request_id_t * p) mutable
{
allocator.deallocate(p, allocator.state);
});
}

void
Expand Down