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Client/Service might be memory leak #1295

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#1296
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Client/Service might be memory leak#1295
#1296
@iuhilnehc-ynos

Description

@iuhilnehc-ynos
iuhilnehc-ynos
opened on Sep 10, 2020

Bug report

Required Info:

  • Operating System:
    • Ubuntu 20.04
  • Installation type:
    • source
  • Version or commit hash:
  • DDS implementation:
    • rmw_fastrtps_cpp
  • Client library (if applicable):
    • rclcpp

Steps to reproduce issue

$ colcon build --cmake-args -DCMAKE_BUILD_TYPE=Debug --packages-up-to rclcpp
$ . install/setup.bash
$ valgrind --leak-check=full ./build/rclcpp/test/test_allocator_memory_strategy

Expected behavior

No memory leak

Actual behavior

memory leak log 

==1269872== 
==1269872== HEAP SUMMARY:
==1269872==     in use at exit: 57,303 bytes in 167 blocks
==1269872==   total heap usage: 253,411 allocs, 253,244 frees, 94,040,442 bytes allocated
==1269872== 
==1269872== 659 (152 direct, 507 indirect) bytes in 1 blocks are definitely lost in loss record 44 of 53
==1269872==    at 0x483DE63: operator new(unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==1269872==    by 0x5E7FD35: rmw_create_client (rmw_client.cpp:173)
==1269872==    by 0x50AB1EF: rmw_create_client (functions.cpp:391)
==1269872==    by 0x5070849: rcl_client_init (client.c:169)
==1269872==    by 0x23C1E2: rclcpp::Client<test_msgs::srv::Empty>::Client(rclcpp::node_interfaces::NodeBaseInterface*, std::shared_ptr<rclcpp::node_interfaces::NodeGraphInterface>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rcl_client_options_t&) (client.hpp:219)
==1269872==    by 0x238E06: void __gnu_cxx::new_allocator<rclcpp::Client<test_msgs::srv::Empty> >::construct<rclcpp::Client<test_msgs::srv::Empty>, rclcpp::node_interfaces::NodeBaseInterface*, std::shared_ptr<rclcpp::node_interfaces::NodeGraphInterface>&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rcl_client_options_t&>(rclcpp::Client<test_msgs::srv::Empty>*, rclcpp::node_interfaces::NodeBaseInterface*&&, std::shared_ptr<rclcpp::node_interfaces::NodeGraphInterface>&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rcl_client_options_t&) (new_allocator.h:147)
==1269872==    by 0x236279: void std::allocator_traits<std::allocator<rclcpp::Client<test_msgs::srv::Empty> > >::construct<rclcpp::Client<test_msgs::srv::Empty>, rclcpp::node_interfaces::NodeBaseInterface*, std::shared_ptr<rclcpp::node_interfaces::NodeGraphInterface>&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rcl_client_options_t&>(std::allocator<rclcpp::Client<test_msgs::srv::Empty> >&, rclcpp::Client<test_msgs::srv::Empty>*, rclcpp::node_interfaces::NodeBaseInterface*&&, std::shared_ptr<rclcpp::node_interfaces::NodeGraphInterface>&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rcl_client_options_t&) (alloc_traits.h:484)
==1269872==    by 0x2328BE: std::_Sp_counted_ptr_inplace<rclcpp::Client<test_msgs::srv::Empty>, std::allocator<rclcpp::Client<test_msgs::srv::Empty> >, (__gnu_cxx::_Lock_policy)2>::_Sp_counted_ptr_inplace<rclcpp::node_interfaces::NodeBaseInterface*, std::shared_ptr<rclcpp::node_interfaces::NodeGraphInterface>&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rcl_client_options_t&>(std::allocator<rclcpp::Client<test_msgs::srv::Empty> >, rclcpp::node_interfaces::NodeBaseInterface*&&, std::shared_ptr<rclcpp::node_interfaces::NodeGraphInterface>&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rcl_client_options_t&) (shared_ptr_base.h:548)
==1269872==    by 0x22E4EB: std::__shared_count<(__gnu_cxx::_Lock_policy)2>::__shared_count<rclcpp::Client<test_msgs::srv::Empty>, std::allocator<rclcpp::Client<test_msgs::srv::Empty> >, rclcpp::node_interfaces::NodeBaseInterface*, std::shared_ptr<rclcpp::node_interfaces::NodeGraphInterface>&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rcl_client_options_t&>(rclcpp::Client<test_msgs::srv::Empty>*&, std::_Sp_alloc_shared_tag<std::allocator<rclcpp::Client<test_msgs::srv::Empty> > >, rclcpp::node_interfaces::NodeBaseInterface*&&, std::shared_ptr<rclcpp::node_interfaces::NodeGraphInterface>&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rcl_client_options_t&) (shared_ptr_base.h:679)
==1269872==    by 0x22A515: std::__shared_ptr<rclcpp::Client<test_msgs::srv::Empty>, (__gnu_cxx::_Lock_policy)2>::__shared_ptr<std::allocator<rclcpp::Client<test_msgs::srv::Empty> >, rclcpp::node_interfaces::NodeBaseInterface*, std::shared_ptr<rclcpp::node_interfaces::NodeGraphInterface>&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rcl_client_options_t&>(std::_Sp_alloc_shared_tag<std::allocator<rclcpp::Client<test_msgs::srv::Empty> > >, rclcpp::node_interfaces::NodeBaseInterface*&&, std::shared_ptr<rclcpp::node_interfaces::NodeGraphInterface>&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rcl_client_options_t&) (shared_ptr_base.h:1344)
==1269872==    by 0x22566E: std::shared_ptr<rclcpp::Client<test_msgs::srv::Empty> >::shared_ptr<std::allocator<rclcpp::Client<test_msgs::srv::Empty> >, rclcpp::node_interfaces::NodeBaseInterface*, std::shared_ptr<rclcpp::node_interfaces::NodeGraphInterface>&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rcl_client_options_t&>(std::_Sp_alloc_shared_tag<std::allocator<rclcpp::Client<test_msgs::srv::Empty> > >, rclcpp::node_interfaces::NodeBaseInterface*&&, std::shared_ptr<rclcpp::node_interfaces::NodeGraphInterface>&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rcl_client_options_t&) (shared_ptr.h:359)
==1269872==    by 0x22038E: std::shared_ptr<rclcpp::Client<test_msgs::srv::Empty> > std::allocate_shared<rclcpp::Client<test_msgs::srv::Empty>, std::allocator<rclcpp::Client<test_msgs::srv::Empty> >, rclcpp::node_interfaces::NodeBaseInterface*, std::shared_ptr<rclcpp::node_interfaces::NodeGraphInterface>&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rcl_client_options_t&>(std::allocator<rclcpp::Client<test_msgs::srv::Empty> > const&, rclcpp::node_interfaces::NodeBaseInterface*&&, std::shared_ptr<rclcpp::node_interfaces::NodeGraphInterface>&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rcl_client_options_t&) (shared_ptr.h:702)
==1269872== 
==1269872== 1,858 (432 direct, 1,426 indirect) bytes in 3 blocks are definitely lost in loss record 48 of 53
==1269872==    at 0x483D7F3: malloc (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==1269872==    by 0x50BFF46: __default_allocate (allocator.c:37)
==1269872==    by 0x50707CA: rcl_client_init (client.c:162)
==1269872==    by 0x23C1E2: rclcpp::Client<test_msgs::srv::Empty>::Client(rclcpp::node_interfaces::NodeBaseInterface*, std::shared_ptr<rclcpp::node_interfaces::NodeGraphInterface>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rcl_client_options_t&) (client.hpp:219)
==1269872==    by 0x238E06: void __gnu_cxx::new_allocator<rclcpp::Client<test_msgs::srv::Empty> >::construct<rclcpp::Client<test_msgs::srv::Empty>, rclcpp::node_interfaces::NodeBaseInterface*, std::shared_ptr<rclcpp::node_interfaces::NodeGraphInterface>&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rcl_client_options_t&>(rclcpp::Client<test_msgs::srv::Empty>*, rclcpp::node_interfaces::NodeBaseInterface*&&, std::shared_ptr<rclcpp::node_interfaces::NodeGraphInterface>&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rcl_client_options_t&) (new_allocator.h:147)
==1269872==    by 0x236279: void std::allocator_traits<std::allocator<rclcpp::Client<test_msgs::srv::Empty> > >::construct<rclcpp::Client<test_msgs::srv::Empty>, rclcpp::node_interfaces::NodeBaseInterface*, std::shared_ptr<rclcpp::node_interfaces::NodeGraphInterface>&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rcl_client_options_t&>(std::allocator<rclcpp::Client<test_msgs::srv::Empty> >&, rclcpp::Client<test_msgs::srv::Empty>*, rclcpp::node_interfaces::NodeBaseInterface*&&, std::shared_ptr<rclcpp::node_interfaces::NodeGraphInterface>&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rcl_client_options_t&) (alloc_traits.h:484)
==1269872==    by 0x2328BE: std::_Sp_counted_ptr_inplace<rclcpp::Client<test_msgs::srv::Empty>, std::allocator<rclcpp::Client<test_msgs::srv::Empty> >, (__gnu_cxx::_Lock_policy)2>::_Sp_counted_ptr_inplace<rclcpp::node_interfaces::NodeBaseInterface*, std::shared_ptr<rclcpp::node_interfaces::NodeGraphInterface>&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rcl_client_options_t&>(std::allocator<rclcpp::Client<test_msgs::srv::Empty> >, rclcpp::node_interfaces::NodeBaseInterface*&&, std::shared_ptr<rclcpp::node_interfaces::NodeGraphInterface>&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rcl_client_options_t&) (shared_ptr_base.h:548)
==1269872==    by 0x22E4EB: std::__shared_count<(__gnu_cxx::_Lock_policy)2>::__shared_count<rclcpp::Client<test_msgs::srv::Empty>, std::allocator<rclcpp::Client<test_msgs::srv::Empty> >, rclcpp::node_interfaces::NodeBaseInterface*, std::shared_ptr<rclcpp::node_interfaces::NodeGraphInterface>&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rcl_client_options_t&>(rclcpp::Client<test_msgs::srv::Empty>*&, std::_Sp_alloc_shared_tag<std::allocator<rclcpp::Client<test_msgs::srv::Empty> > >, rclcpp::node_interfaces::NodeBaseInterface*&&, std::shared_ptr<rclcpp::node_interfaces::NodeGraphInterface>&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rcl_client_options_t&) (shared_ptr_base.h:679)
==1269872==    by 0x22A515: std::__shared_ptr<rclcpp::Client<test_msgs::srv::Empty>, (__gnu_cxx::_Lock_policy)2>::__shared_ptr<std::allocator<rclcpp::Client<test_msgs::srv::Empty> >, rclcpp::node_interfaces::NodeBaseInterface*, std::shared_ptr<rclcpp::node_interfaces::NodeGraphInterface>&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rcl_client_options_t&>(std::_Sp_alloc_shared_tag<std::allocator<rclcpp::Client<test_msgs::srv::Empty> > >, rclcpp::node_interfaces::NodeBaseInterface*&&, std::shared_ptr<rclcpp::node_interfaces::NodeGraphInterface>&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rcl_client_options_t&) (shared_ptr_base.h:1344)
==1269872==    by 0x22566E: std::shared_ptr<rclcpp::Client<test_msgs::srv::Empty> >::shared_ptr<std::allocator<rclcpp::Client<test_msgs::srv::Empty> >, rclcpp::node_interfaces::NodeBaseInterface*, std::shared_ptr<rclcpp::node_interfaces::NodeGraphInterface>&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rcl_client_options_t&>(std::_Sp_alloc_shared_tag<std::allocator<rclcpp::Client<test_msgs::srv::Empty> > >, rclcpp::node_interfaces::NodeBaseInterface*&&, std::shared_ptr<rclcpp::node_interfaces::NodeGraphInterface>&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rcl_client_options_t&) (shared_ptr.h:359)
==1269872==    by 0x22038E: std::shared_ptr<rclcpp::Client<test_msgs::srv::Empty> > std::allocate_shared<rclcpp::Client<test_msgs::srv::Empty>, std::allocator<rclcpp::Client<test_msgs::srv::Empty> >, rclcpp::node_interfaces::NodeBaseInterface*, std::shared_ptr<rclcpp::node_interfaces::NodeGraphInterface>&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rcl_client_options_t&>(std::allocator<rclcpp::Client<test_msgs::srv::Empty> > const&, rclcpp::node_interfaces::NodeBaseInterface*&&, std::shared_ptr<rclcpp::node_interfaces::NodeGraphInterface>&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rcl_client_options_t&) (shared_ptr.h:702)
==1269872==    by 0x21A1E3: std::shared_ptr<rclcpp::Client<test_msgs::srv::Empty> > std::make_shared<rclcpp::Client<test_msgs::srv::Empty>, rclcpp::node_interfaces::NodeBaseInterface*, std::shared_ptr<rclcpp::node_interfaces::NodeGraphInterface>&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rcl_client_options_t&>(rclcpp::node_interfaces::NodeBaseInterface*&&, std::shared_ptr<rclcpp::node_interfaces::NodeGraphInterface>&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rcl_client_options_t&) (shared_ptr.h:718)
==1269872== 
==1269872== 2,469 (408 direct, 2,061 indirect) bytes in 3 blocks are definitely lost in loss record 49 of 53
==1269872==    at 0x483D7F3: malloc (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==1269872==    by 0x50BFF46: __default_allocate (allocator.c:37)
==1269872==    by 0x50825FB: rcl_service_init (service.c:166)
==1269872==    by 0x23BD70: rclcpp::Service<test_msgs::srv::Empty>::Service(std::shared_ptr<rcl_node_t>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::AnyServiceCallback<test_msgs::srv::Empty>, rcl_service_options_t&) (service.hpp:204)
==1269872==    by 0x238C03: void __gnu_cxx::new_allocator<rclcpp::Service<test_msgs::srv::Empty> >::construct<rclcpp::Service<test_msgs::srv::Empty>, std::shared_ptr<rcl_node_t>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::AnyServiceCallback<test_msgs::srv::Empty>&, rcl_service_options_t&>(rclcpp::Service<test_msgs::srv::Empty>*, std::shared_ptr<rcl_node_t>&&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::AnyServiceCallback<test_msgs::srv::Empty>&, rcl_service_options_t&) (new_allocator.h:147)
==1269872==    by 0x2360B1: void std::allocator_traits<std::allocator<rclcpp::Service<test_msgs::srv::Empty> > >::construct<rclcpp::Service<test_msgs::srv::Empty>, std::shared_ptr<rcl_node_t>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::AnyServiceCallback<test_msgs::srv::Empty>&, rcl_service_options_t&>(std::allocator<rclcpp::Service<test_msgs::srv::Empty> >&, rclcpp::Service<test_msgs::srv::Empty>*, std::shared_ptr<rcl_node_t>&&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::AnyServiceCallback<test_msgs::srv::Empty>&, rcl_service_options_t&) (alloc_traits.h:484)
==1269872==    by 0x2325AE: std::_Sp_counted_ptr_inplace<rclcpp::Service<test_msgs::srv::Empty>, std::allocator<rclcpp::Service<test_msgs::srv::Empty> >, (__gnu_cxx::_Lock_policy)2>::_Sp_counted_ptr_inplace<std::shared_ptr<rcl_node_t>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::AnyServiceCallback<test_msgs::srv::Empty>&, rcl_service_options_t&>(std::allocator<rclcpp::Service<test_msgs::srv::Empty> >, std::shared_ptr<rcl_node_t>&&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::AnyServiceCallback<test_msgs::srv::Empty>&, rcl_service_options_t&) (shared_ptr_base.h:548)
==1269872==    by 0x22E1D5: std::__shared_count<(__gnu_cxx::_Lock_policy)2>::__shared_count<rclcpp::Service<test_msgs::srv::Empty>, std::allocator<rclcpp::Service<test_msgs::srv::Empty> >, std::shared_ptr<rcl_node_t>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::AnyServiceCallback<test_msgs::srv::Empty>&, rcl_service_options_t&>(rclcpp::Service<test_msgs::srv::Empty>*&, std::_Sp_alloc_shared_tag<std::allocator<rclcpp::Service<test_msgs::srv::Empty> > >, std::shared_ptr<rcl_node_t>&&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::AnyServiceCallback<test_msgs::srv::Empty>&, rcl_service_options_t&) (shared_ptr_base.h:679)
==1269872==    by 0x22A2DD: std::__shared_ptr<rclcpp::Service<test_msgs::srv::Empty>, (__gnu_cxx::_Lock_policy)2>::__shared_ptr<std::allocator<rclcpp::Service<test_msgs::srv::Empty> >, std::shared_ptr<rcl_node_t>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::AnyServiceCallback<test_msgs::srv::Empty>&, rcl_service_options_t&>(std::_Sp_alloc_shared_tag<std::allocator<rclcpp::Service<test_msgs::srv::Empty> > >, std::shared_ptr<rcl_node_t>&&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::AnyServiceCallback<test_msgs::srv::Empty>&, rcl_service_options_t&) (shared_ptr_base.h:1344)
==1269872==    by 0x225440: std::shared_ptr<rclcpp::Service<test_msgs::srv::Empty> >::shared_ptr<std::allocator<rclcpp::Service<test_msgs::srv::Empty> >, std::shared_ptr<rcl_node_t>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::AnyServiceCallback<test_msgs::srv::Empty>&, rcl_service_options_t&>(std::_Sp_alloc_shared_tag<std::allocator<rclcpp::Service<test_msgs::srv::Empty> > >, std::shared_ptr<rcl_node_t>&&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::AnyServiceCallback<test_msgs::srv::Empty>&, rcl_service_options_t&) (shared_ptr.h:359)
==1269872==    by 0x2200E6: std::shared_ptr<rclcpp::Service<test_msgs::srv::Empty> > std::allocate_shared<rclcpp::Service<test_msgs::srv::Empty>, std::allocator<rclcpp::Service<test_msgs::srv::Empty> >, std::shared_ptr<rcl_node_t>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::AnyServiceCallback<test_msgs::srv::Empty>&, rcl_service_options_t&>(std::allocator<rclcpp::Service<test_msgs::srv::Empty> > const&, std::shared_ptr<rcl_node_t>&&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::AnyServiceCallback<test_msgs::srv::Empty>&, rcl_service_options_t&) (shared_ptr.h:702)
==1269872==    by 0x219D29: std::shared_ptr<rclcpp::Service<test_msgs::srv::Empty> > std::make_shared<rclcpp::Service<test_msgs::srv::Empty>, std::shared_ptr<rcl_node_t>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::AnyServiceCallback<test_msgs::srv::Empty>&, rcl_service_options_t&>(std::shared_ptr<rcl_node_t>&&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::AnyServiceCallback<test_msgs::srv::Empty>&, rcl_service_options_t&) (shared_ptr.h:718)
==1269872== 
==1269872== LEAK SUMMARY:
==1269872==    definitely lost: 992 bytes in 7 blocks
==1269872==    indirectly lost: 3,994 bytes in 53 blocks
==1269872==      possibly lost: 0 bytes in 0 blocks
==1269872==    still reachable: 52,317 bytes in 107 blocks
==1269872==         suppressed: 0 bytes in 0 blocks
==1269872== Reachable blocks (those to which a pointer was found) are not shown.
==1269872== To see them, rerun with: --leak-check=full --show-leak-kinds=all
==1269872== 
==1269872== For lists of detected and suppressed errors, rerun with: -s
==1269872== ERROR SUMMARY: 3 errors from 3 contexts (suppressed: 0 from 0)

Additional information

It can't make sure client handle is destructed before the node handle if this client handle is stored at external.

rclcpp/rclcpp/src/rclcpp/client.cpp

Lines 69 to 70 in d66cd96

// Make sure the client handle is destructed as early as possible and before the node handle
client_handle_.reset();

There are two ways to solve this memory leak.

  • make sure [service/client] handle stored at external is clean before calling ClientBase::~ClientBase.

  • put share_ptr(node_handle_) inside deleter of [service/client]_handle_, it will make sure [service/client] handle is destructed before the node handle
    I do like this method because it will make users not to care which variable should be destroyed first if using get_[service/client]_handle() outside.

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