Fix memory leak in the ros2_control (#2033)

Author: saikishor

hardware_interface/include/hardware_interface/actuator.hpp

@@ -72,9 +72,9 @@ class Actuator final
     const std::vector<std::string> & start_interfaces,
     const std::vector<std::string> & stop_interfaces);
 
-  std::string get_name() const;
+  const std::string & get_name() const;
 
-  std::string get_group_name() const;
+  const std::string & get_group_name() const;
 
   const rclcpp_lifecycle::State & get_lifecycle_state() const;
 

hardware_interface/include/hardware_interface/actuator_interface.hpp

@@ -461,13 +461,13 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
   /**
    * \return name.
    */
-  virtual std::string get_name() const { return info_.name; }
+  const std::string & get_name() const { return info_.name; }
 
   /// Get name of the actuator hardware group to which it belongs to.
   /**
    * \return group name.
    */
-  virtual std::string get_group_name() const { return info_.group; }
+  const std::string & get_group_name() const { return info_.group; }
 
   /// Get life-cycle state of the actuator hardware.
   /**

hardware_interface/include/hardware_interface/hardware_info.hpp

@@ -158,11 +158,11 @@ struct InterfaceDescription
    */
   std::string interface_name;
 
-  std::string get_prefix_name() const { return prefix_name; }
+  const std::string & get_prefix_name() const { return prefix_name; }
 
-  std::string get_interface_name() const { return interface_info.name; }
+  const std::string & get_interface_name() const { return interface_info.name; }
 
-  std::string get_name() const { return interface_name; }
+  const std::string & get_name() const { return interface_name; }
 };
 
 /// This structure stores information about hardware defined in a robot's URDF.

hardware_interface/include/hardware_interface/sensor.hpp

@@ -62,9 +62,9 @@ class Sensor final
 
   std::vector<StateInterface::ConstSharedPtr> export_state_interfaces();
 
-  std::string get_name() const;
+  const std::string & get_name() const;
 
-  std::string get_group_name() const;
+  const std::string & get_group_name() const;
 
   const rclcpp_lifecycle::State & get_lifecycle_state() const;
 

hardware_interface/include/hardware_interface/sensor_interface.hpp

@@ -275,13 +275,13 @@ class SensorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
   /**
    * \return name.
    */
-  virtual std::string get_name() const { return info_.name; }
+  const std::string & get_name() const { return info_.name; }
 
   /// Get name of the actuator hardware group to which it belongs to.
   /**
    * \return group name.
    */
-  virtual std::string get_group_name() const { return info_.group; }
+  const std::string & get_group_name() const { return info_.group; }
 
   /// Get life-cycle state of the actuator hardware.
   /**

hardware_interface/include/hardware_interface/system.hpp

@@ -72,9 +72,9 @@ class System final
     const std::vector<std::string> & start_interfaces,
     const std::vector<std::string> & stop_interfaces);
 
-  std::string get_name() const;
+  const std::string & get_name() const;
 
-  std::string get_group_name() const;
+  const std::string & get_group_name() const;
 
   const rclcpp_lifecycle::State & get_lifecycle_state() const;
 

hardware_interface/include/hardware_interface/system_interface.hpp

@@ -490,13 +490,13 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
   /**
    * \return name.
    */
-  virtual std::string get_name() const { return info_.name; }
+  const std::string & get_name() const { return info_.name; }
 
   /// Get name of the actuator hardware group to which it belongs to.
   /**
    * \return group name.
    */
-  virtual std::string get_group_name() const { return info_.group; }
+  const std::string & get_group_name() const { return info_.group; }
 
   /// Get life-cycle state of the actuator hardware.
   /**

hardware_interface/src/actuator.cpp

@@ -277,9 +277,9 @@ return_type Actuator::perform_command_mode_switch(
   return impl_->perform_command_mode_switch(start_interfaces, stop_interfaces);
 }
 
-std::string Actuator::get_name() const { return impl_->get_name(); }
+const std::string & Actuator::get_name() const { return impl_->get_name(); }
 
-std::string Actuator::get_group_name() const { return impl_->get_group_name(); }
+const std::string & Actuator::get_group_name() const { return impl_->get_group_name(); }
 
 const rclcpp_lifecycle::State & Actuator::get_lifecycle_state() const
 {

hardware_interface/src/sensor.cpp

@@ -233,9 +233,9 @@ std::vector<StateInterface::ConstSharedPtr> Sensor::export_state_interfaces()
   // END: for backward compatibility
 }
 
-std::string Sensor::get_name() const { return impl_->get_name(); }
+const std::string & Sensor::get_name() const { return impl_->get_name(); }
 
-std::string Sensor::get_group_name() const { return impl_->get_group_name(); }
+const std::string & Sensor::get_group_name() const { return impl_->get_group_name(); }
 
 const rclcpp_lifecycle::State & Sensor::get_lifecycle_state() const
 {

hardware_interface/src/system.cpp

@@ -275,9 +275,9 @@ return_type System::perform_command_mode_switch(
   return impl_->perform_command_mode_switch(start_interfaces, stop_interfaces);
 }
 
-std::string System::get_name() const { return impl_->get_name(); }
+const std::string & System::get_name() const { return impl_->get_name(); }
 
-std::string System::get_group_name() const { return impl_->get_group_name(); }
+const std::string & System::get_group_name() const { return impl_->get_group_name(); }
 
 const rclcpp_lifecycle::State & System::get_lifecycle_state() const
 {