Clear intra-process manager from destroyed cli/srv

Signed-off-by: Mauro Passerino <[email protected]>

Author: Mauro Passerino

rclcpp/include/rclcpp/client.hpp

@@ -534,6 +534,18 @@ class Client : public ClientBase
 
   virtual ~Client()
   {
+    if (!use_intra_process_) {
+      return;
+    }
+    auto ipm = weak_ipm_.lock();
+    if (!ipm) {
+      // TODO(ivanpauno): should this raise an error?
+      RCLCPP_WARN(
+        rclcpp::get_logger("rclcpp"),
+        "Intra process manager died before than a client.");
+      return;
+    }
+    ipm->remove_client(intra_process_client_id_);
   }
 
   /// Take the next response for this client.

rclcpp/include/rclcpp/experimental/intra_process_manager.hpp

@@ -304,9 +304,13 @@ class IntraProcessManager
 
     auto service_it = services_.find(service_id);
     if (service_it == services_.end()) {
-      throw std::runtime_error(
-              "There are no services to receive the intra-process request. "
-              "Do Inter process.");
+      auto cli = get_client_intra_process(intra_process_client_id);
+      auto warning_msg =
+        "Intra-process service gone out of scope. "
+        "Do inter-process requests.\n"
+        "Client topic name: " + std::string(cli->get_service_name());
+      RCLCPP_WARN(rclcpp::get_logger("rclcpp"), warning_msg.c_str());
+      return;
     }
     auto service_intra_process_base = service_it->second.lock();
     if (service_intra_process_base) {

rclcpp/include/rclcpp/service.hpp

@@ -481,6 +481,18 @@ class Service
 
   virtual ~Service()
   {
+    if (!use_intra_process_) {
+      return;
+    }
+    auto ipm = weak_ipm_.lock();
+    if (!ipm) {
+      // TODO(ivanpauno): should this raise an error?
+      RCLCPP_WARN(
+        rclcpp::get_logger("rclcpp"),
+        "Intra process manager died before than a service.");
+      return;
+    }
+    ipm->remove_service(intra_process_service_id_);
   }
 
   /// Take the next request from the service.