Add raw publisher, convert Context to singleton #76
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mchhoy
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…tion when creatin multiple Context instances
mchhoy
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Sorry for the delay! Looks good to me. Thanks for fixing the context issue, it's fine to include it in this pr. I think the context being a singleton shouldn't impact anyone... Let's find out :) |
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Follow up PR to #74
I was seeing some memory corruption in the tests, which seems to be due to multiple Context instances being made (e.g. a double free in rcl_node_fini + other less legible ones intermittantly). Using a singleton fixed this. (It was not exclusively happening on the raw subscriber/publisher stuff, it was a preexisting issue.)
I don't think making Context a singleton should impact anyone using this library?
I can split into 2 PR's if desired