clear intra-process manager on client/server destructors (#94)

(cherry picked from commit 378223d)

Author: Mauro Passerino

rclcpp/include/rclcpp/experimental/intra_process_manager.hpp

@@ -410,7 +410,7 @@ class IntraProcessManager
       auto warning_msg =
         "Intra-process service gone out of scope. "
         "Do inter-process requests.\n"
-        "Client topic name: " + std::string(cli->get_service_name());
+        "Client service name: " + std::string(cli->get_service_name());
       RCLCPP_WARN(rclcpp::get_logger("rclcpp"), warning_msg.c_str());
       return;
     }

rclcpp_action/include/rclcpp_action/client.hpp

@@ -734,6 +734,19 @@ class Client : public ClientBase
       }
       it = goal_handles_.erase(it);
     }
+
+    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 an action client.");
+      return;
+    }
+    ipm->remove_action_client(ipc_action_client_id_);
   }
 
 private:

rclcpp_action/include/rclcpp_action/server.hpp

@@ -455,7 +455,21 @@ class Server : public ServerBase, public std::enable_shared_from_this<Server<Act
     }
   }
 
-  virtual ~Server() = default;
+  virtual ~Server()
+  {
+    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 an action server.");
+      return;
+    }
+    ipm->remove_action_server(ipc_action_server_id_);
+  }
 
 protected:
   // Intra-process version of execute_goal_request_received_