rclnodejs 1.8.2 → 1.9.0-alpha.0

package/src/executor.cpp

@@ -48,7 +48,8 @@ Executor::Executor(Napi::Env env, HandleManager* handle_manager,
       handle_manager_(handle_manager),
       delegate_(delegate),
       context_(nullptr),
-      env_(env) {
+      env_(env),
+      work_pending_(false) {
   running_.store(false);
 }
 
@@ -105,17 +106,20 @@ void Executor::Stop() {
     // Stop thread first, and then uv_close
     // Make sure async_ is not used anymore
     running_.store(false);
+    // Wake the background thread in case it is waiting on the condvar.
+    work_done_cv_.notify_all();
     handle_manager_->StopWaitingHandles();
     uv_thread_join(&background_thread_);
 
     if (uv_is_active(reinterpret_cast<uv_handle_t*>(async_))) {
       static bool handle_closed = false;
+      handle_closed = false;
       uv_close(reinterpret_cast<uv_handle_t*>(async_),
                [](uv_handle_t* async) -> void {
                  // Important Notice:
                  //  This might be called after Executor::~Executor()
                  //  Don't free Executor::async_ in Executor's dtor
-                 delete async;
+                 delete reinterpret_cast<uv_async_t*>(async);
                  handle_closed = true;
                });
       while (!handle_closed) uv_run(uv_default_loop(), UV_RUN_ONCE);
@@ -132,6 +136,21 @@ bool Executor::IsMainThread() {
 
 void Executor::DoWork(uv_async_t* handle) {
   Executor* executor = reinterpret_cast<Executor*>(handle->data);
+
+  // RAII guard: always clear work_pending_ and notify the background thread,
+  // even if ExecuteReadyHandles() throws (e.g. from N-API callbacks).
+  // Without this, the background thread would block forever on work_done_cv_.
+  struct WorkDoneGuard {
+    Executor* exec;
+    ~WorkDoneGuard() {
+      {
+        std::lock_guard<std::mutex> lock(exec->work_done_mutex_);
+        exec->work_pending_ = false;
+      }
+      exec->work_done_cv_.notify_one();
+    }
+  } guard{executor};
+
   executor->ExecuteReadyHandles();
 }
 
@@ -158,7 +177,23 @@ void Executor::Run(void* arg) {
 
       if (!uv_is_closing(reinterpret_cast<uv_handle_t*>(executor->async_)) &&
           handle_manager->ready_handles_count() > 0) {
+        // Tell the main thread there is work to do, then wait for it to
+        // finish before re-entering rcl_wait.  This prevents a data race
+        // where the background thread holds subscriptions in the wait set
+        // while the main thread modifies their state (e.g. content filter).
+        {
+          std::lock_guard<std::mutex> lock(executor->work_done_mutex_);
+          executor->work_pending_ = true;
+        }
         uv_async_send(executor->async_);
+
+        // Wait until DoWork() signals completion.
+        {
+          std::unique_lock<std::mutex> lock(executor->work_done_mutex_);
+          executor->work_done_cv_.wait(lock, [executor] {
+            return !executor->work_pending_ || !executor->running_.load();
+          });
+        }
       }
     }
 

package/src/executor.h

@@ -20,7 +20,9 @@
 #include <uv.h>
 
 #include <atomic>
+#include <condition_variable>
 #include <exception>
+#include <mutex>
 #include <vector>
 
 #include "rcl_handle.h"
@@ -72,6 +74,15 @@ class Executor {
   Napi::Env env_;
 
   std::atomic_bool running_;
+
+  // Synchronization: the background thread waits after uv_async_send until
+  // the main thread finishes ExecuteReadyHandles.  This prevents the
+  // background thread from re-entering rcl_wait (which holds a reference to
+  // subscriptions) while the main thread modifies subscription state (e.g.
+  // content filter changes).
+  std::mutex work_done_mutex_;
+  std::condition_variable work_done_cv_;
+  bool work_pending_;  // true while the main thread is processing handles
 };
 
 }  // namespace rclnodejs

package/src/macros.h

@@ -22,8 +22,8 @@
 #define CHECK_OP_AND_THROW_ERROR_IF_NOT_TRUE(op, lhs, rhs, message) \
   {                                                                 \
     if (lhs op rhs) {                                               \
-      rcl_reset_error();                                            \
       Napi::Error::New(env, message).ThrowAsJavaScriptException();  \
+      rcl_reset_error();                                            \
       return env.Undefined();                                       \
     }                                                               \
   }
@@ -31,8 +31,8 @@
 #define CHECK_OP_AND_THROW_ERROR_IF_NOT_TRUE_NO_RETURN(op, lhs, rhs, message) \
   {                                                                           \
     if (lhs op rhs) {                                                         \
-      rcl_reset_error();                                                      \
       Napi::Error::New(env, message).ThrowAsJavaScriptException();            \
+      rcl_reset_error();                                                      \
     }                                                                         \
   }
 

package/src/rcl_action_client_bindings.cpp

@@ -70,10 +70,17 @@ Napi::Value ActionCreateClient(const Napi::CallbackInfo& info) {
         malloc(sizeof(rcl_action_client_t)));
     *action_client = rcl_action_get_zero_initialized_client();
 
-    THROW_ERROR_IF_NOT_EQUAL(
-        rcl_action_client_init(action_client, node, ts, action_name.c_str(),
-                               &action_client_ops),
-        RCL_RET_OK, rcl_get_error_string().str);
+    {
+      rcl_ret_t ret = rcl_action_client_init(
+          action_client, node, ts, action_name.c_str(), &action_client_ops);
+      if (RCL_RET_OK != ret) {
+        std::string error_msg = rcl_get_error_string().str;
+        rcl_reset_error();
+        free(action_client);
+        Napi::Error::New(env, error_msg).ThrowAsJavaScriptException();
+        return env.Undefined();
+      }
+    }
     auto js_obj = RclHandle::NewInstance(
         env, action_client, node_handle, [node, env](void* ptr) {
           rcl_action_client_t* action_client =
@@ -125,7 +132,7 @@ Napi::Value ActionSendGoalRequest(const Napi::CallbackInfo& info) {
       rcl_action_send_goal_request(action_client, buffer, &sequence_number),
       RCL_RET_OK, rcl_get_error_string().str);
 
-  return Napi::Number::New(env, static_cast<int32_t>(sequence_number));
+  return Napi::Number::New(env, static_cast<double>(sequence_number));
 }
 
 Napi::Value ActionSendResultRequest(const Napi::CallbackInfo& info) {
@@ -142,7 +149,7 @@ Napi::Value ActionSendResultRequest(const Napi::CallbackInfo& info) {
       rcl_action_send_result_request(action_client, buffer, &sequence_number),
       RCL_RET_OK, rcl_get_error_string().str);
 
-  return Napi::Number::New(env, static_cast<int32_t>(sequence_number));
+  return Napi::Number::New(env, static_cast<double>(sequence_number));
 }
 
 Napi::Value ActionTakeFeedback(const Napi::CallbackInfo& info) {
@@ -156,9 +163,9 @@ Napi::Value ActionTakeFeedback(const Napi::CallbackInfo& info) {
 
   rcl_ret_t ret = rcl_action_take_feedback(action_client, buffer);
   if (ret != RCL_RET_OK && ret != RCL_RET_ACTION_CLIENT_TAKE_FAILED) {
-    Napi::Error::New(env, rcl_get_error_string().str)
-        .ThrowAsJavaScriptException();
+    std::string error_msg = rcl_get_error_string().str;
     rcl_reset_error();
+    Napi::Error::New(env, error_msg).ThrowAsJavaScriptException();
     return Napi::Boolean::New(env, false);
   }
 
@@ -179,9 +186,9 @@ Napi::Value ActionTakeStatus(const Napi::CallbackInfo& info) {
 
   rcl_ret_t ret = rcl_action_take_status(action_client, buffer);
   if (ret != RCL_RET_OK && ret != RCL_RET_ACTION_CLIENT_TAKE_FAILED) {
+    std::string error_msg = rcl_get_error_string().str;
     rcl_reset_error();
-    Napi::Error::New(env, rcl_get_error_string().str)
-        .ThrowAsJavaScriptException();
+    Napi::Error::New(env, error_msg).ThrowAsJavaScriptException();
     return Napi::Boolean::New(env, false);
   }
 
@@ -240,8 +247,69 @@ Napi::Value ActionSendCancelRequest(const Napi::CallbackInfo& info) {
       rcl_action_send_cancel_request(action_client, buffer, &sequence_number),
       RCL_RET_OK, rcl_get_error_string().str);
 
-  return Napi::Number::New(env, static_cast<int32_t>(sequence_number));
+  return Napi::Number::New(env, static_cast<double>(sequence_number));
+}
+
+#if ROS_VERSION >= 5000  // ROS2 Rolling
+Napi::Value ActionConfigureFeedbackSubFilterAddGoalId(
+    const Napi::CallbackInfo& info) {
+  Napi::Env env = info.Env();
+
+  RclHandle* action_client_handle =
+      RclHandle::Unwrap(info[0].As<Napi::Object>());
+  rcl_action_client_t* action_client =
+      reinterpret_cast<rcl_action_client_t*>(action_client_handle->ptr());
+
+  auto goal_id_buffer = info[1].As<Napi::Buffer<uint8_t>>();
+  const uint8_t* goal_id_array = goal_id_buffer.Data();
+  size_t goal_id_size = goal_id_buffer.Length();
+
+  rcl_ret_t ret =
+      rcl_action_client_configure_feedback_subscription_filter_add_goal_id(
+          action_client, goal_id_array, goal_id_size);
+
+  if (RCL_RET_OK != ret) {
+    std::string error_text{
+        "Failed to add goal id to feedback subscription content filter: "};
+    error_text += rcl_get_error_string().str;
+    rcl_reset_error();
+    Napi::Error::New(env, error_text).ThrowAsJavaScriptException();
+    return Napi::Boolean::New(env, false);
+  }
+
+  return Napi::Boolean::New(env, true);
+}
+
+Napi::Value ActionConfigureFeedbackSubFilterRemoveGoalId(
+    const Napi::CallbackInfo& info) {
+  Napi::Env env = info.Env();
+
+  RclHandle* action_client_handle =
+      RclHandle::Unwrap(info[0].As<Napi::Object>());
+  rcl_action_client_t* action_client =
+      reinterpret_cast<rcl_action_client_t*>(action_client_handle->ptr());
+
+  auto goal_id_buffer = info[1].As<Napi::Buffer<uint8_t>>();
+  const uint8_t* goal_id_array = goal_id_buffer.Data();
+  size_t goal_id_size = goal_id_buffer.Length();
+
+  rcl_ret_t ret =
+      rcl_action_client_configure_feedback_subscription_filter_remove_goal_id(
+          action_client, goal_id_array, goal_id_size);
+
+  if (RCL_RET_OK != ret) {
+    std::string error_text{
+        "Failed to remove goal id from feedback subscription content "
+        "filter: "};
+    error_text += rcl_get_error_string().str;
+    rcl_reset_error();
+    Napi::Error::New(env, error_text).ThrowAsJavaScriptException();
+    return Napi::Boolean::New(env, false);
+  }
+
+  return Napi::Boolean::New(env, true);
 }
+#endif  // ROS_VERSION >= 5000
 
 #if ROS_VERSION >= 2505  // ROS2 >= Kilted
 Napi::Value ConfigureActionClientIntrospection(const Napi::CallbackInfo& info) {
@@ -300,7 +368,15 @@ Napi::Object InitActionClientBindings(Napi::Env env, Napi::Object exports) {
 #if ROS_VERSION >= 2505  // ROS2 >= Kilted
   exports.Set("configureActionClientIntrospection",
               Napi::Function::New(env, ConfigureActionClientIntrospection));
-#endif  // ROS_VERSION >= 2505
+#endif                   // ROS_VERSION >= 2505
+#if ROS_VERSION >= 5000  // ROS2 Rolling
+  exports.Set(
+      "actionConfigureFeedbackSubFilterAddGoalId",
+      Napi::Function::New(env, ActionConfigureFeedbackSubFilterAddGoalId));
+  exports.Set(
+      "actionConfigureFeedbackSubFilterRemoveGoalId",
+      Napi::Function::New(env, ActionConfigureFeedbackSubFilterRemoveGoalId));
+#endif  // ROS_VERSION >= 5000
   return exports;
 }
 

package/src/rcl_action_server_bindings.cpp

@@ -76,10 +76,18 @@ Napi::Value ActionCreateServer(const Napi::CallbackInfo& info) {
         malloc(sizeof(rcl_action_server_t)));
     *action_server = rcl_action_get_zero_initialized_server();
 
-    THROW_ERROR_IF_NOT_EQUAL(
-        rcl_action_server_init(action_server, node, clock, ts,
-                               action_name.c_str(), &action_server_ops),
-        RCL_RET_OK, rcl_get_error_string().str);
+    {
+      rcl_ret_t ret =
+          rcl_action_server_init(action_server, node, clock, ts,
+                                 action_name.c_str(), &action_server_ops);
+      if (RCL_RET_OK != ret) {
+        std::string error_msg = rcl_get_error_string().str;
+        rcl_reset_error();
+        free(action_server);
+        Napi::Error::New(env, error_msg).ThrowAsJavaScriptException();
+        return env.Undefined();
+      }
+    }
     auto js_obj = RclHandle::NewInstance(
         env, action_server, node_handle, [node, env](void* ptr) {
           rcl_action_server_t* action_server =
@@ -118,6 +126,7 @@ Napi::Value ActionTakeResultRequest(const Napi::CallbackInfo& info) {
     return js_obj;
   }
 
+  free(header);
   return env.Undefined();
 }
 
@@ -140,6 +149,7 @@ Napi::Value ActionTakeGoalRequest(const Napi::CallbackInfo& info) {
     return js_obj;
   }
 
+  free(header);
   return env.Undefined();
 }
 
@@ -213,14 +223,14 @@ Napi::Value ActionTakeGoalResponse(const Napi::CallbackInfo& info) {
   free(header);
 
   if (ret != RCL_RET_OK && ret != RCL_RET_ACTION_CLIENT_TAKE_FAILED) {
+    std::string error_msg = rcl_get_error_string().str;
     rcl_reset_error();
-    Napi::Error::New(env, rcl_get_error_string().str)
-        .ThrowAsJavaScriptException();
+    Napi::Error::New(env, error_msg).ThrowAsJavaScriptException();
     return env.Undefined();
   }
 
   if (ret != RCL_RET_ACTION_CLIENT_TAKE_FAILED) {
-    return Napi::Number::New(env, static_cast<int32_t>(sequence_number));
+    return Napi::Number::New(env, static_cast<double>(sequence_number));
   }
   return env.Undefined();
 }
@@ -242,14 +252,14 @@ Napi::Value ActionTakeCancelResponse(const Napi::CallbackInfo& info) {
   free(header);
 
   if (ret != RCL_RET_OK && ret != RCL_RET_ACTION_CLIENT_TAKE_FAILED) {
+    std::string error_msg = rcl_get_error_string().str;
     rcl_reset_error();
-    Napi::Error::New(env, rcl_get_error_string().str)
-        .ThrowAsJavaScriptException();
+    Napi::Error::New(env, error_msg).ThrowAsJavaScriptException();
     return env.Undefined();
   }
 
   if (ret != RCL_RET_ACTION_CLIENT_TAKE_FAILED) {
-    return Napi::Number::New(env, static_cast<int32_t>(sequence_number));
+    return Napi::Number::New(env, static_cast<double>(sequence_number));
   }
   return env.Undefined();
 }
@@ -271,14 +281,14 @@ Napi::Value ActionTakeResultResponse(const Napi::CallbackInfo& info) {
   free(header);
 
   if (ret != RCL_RET_OK && ret != RCL_RET_ACTION_CLIENT_TAKE_FAILED) {
+    std::string error_msg = rcl_get_error_string().str;
     rcl_reset_error();
-    Napi::Error::New(env, rcl_get_error_string().str)
-        .ThrowAsJavaScriptException();
+    Napi::Error::New(env, error_msg).ThrowAsJavaScriptException();
     return env.Undefined();
   }
 
   if (ret != RCL_RET_ACTION_CLIENT_TAKE_FAILED) {
-    return Napi::Number::New(env, static_cast<int32_t>(sequence_number));
+    return Napi::Number::New(env, static_cast<double>(sequence_number));
   }
   return env.Undefined();
 }
@@ -455,6 +465,7 @@ Napi::Value ActionTakeCancelRequest(const Napi::CallbackInfo& info) {
     return js_obj;
   }
 
+  free(header);
   return env.Undefined();
 }
 

package/src/rcl_client_bindings.cpp

@@ -49,9 +49,17 @@ Napi::Value CreateClient(const Napi::CallbackInfo& info) {
       client_ops.qos = *qos_profile;
     }
 
-    THROW_ERROR_IF_NOT_EQUAL(
-        rcl_client_init(client, node, ts, service_name.c_str(), &client_ops),
-        RCL_RET_OK, rcl_get_error_string().str);
+    {
+      rcl_ret_t ret =
+          rcl_client_init(client, node, ts, service_name.c_str(), &client_ops);
+      if (RCL_RET_OK != ret) {
+        std::string error_msg = rcl_get_error_string().str;
+        rcl_reset_error();
+        free(client);
+        Napi::Error::New(env, error_msg).ThrowAsJavaScriptException();
+        return env.Undefined();
+      }
+    }
 
     auto js_obj = RclHandle::NewInstance(
         env, client, node_handle, [node, env](void* ptr) {
@@ -80,7 +88,7 @@ Napi::Value SendRequest(const Napi::CallbackInfo& info) {
   THROW_ERROR_IF_NOT_EQUAL(rcl_send_request(client, buffer, &sequence_number),
                            RCL_RET_OK, rcl_get_error_string().str);
 
-  return Napi::Number::New(env, static_cast<uint32_t>(sequence_number));
+  return Napi::Number::New(env, static_cast<double>(sequence_number));
 }
 
 Napi::Value RclTakeResponse(const Napi::CallbackInfo& info) {
@@ -96,7 +104,7 @@ Napi::Value RclTakeResponse(const Napi::CallbackInfo& info) {
   int64_t sequence_number = header.request_id.sequence_number;
 
   if (ret == RCL_RET_OK) {
-    return Napi::Number::New(env, static_cast<uint32_t>(sequence_number));
+    return Napi::Number::New(env, static_cast<double>(sequence_number));
   }
 
   rcl_reset_error();

package/src/rcl_context_bindings.cpp

@@ -17,10 +17,10 @@
 #include <rcl/logging.h>
 #include <rcl/rcl.h>
 
-#include <rcpputils/scope_exit.hpp>
-// NOLINTNEXTLINE
 #include <string>
 
+#include <rcpputils/scope_exit.hpp>
+
 #include "macros.h"
 #include "rcl_handle.h"
 #include "rcl_utilities.h"
@@ -54,6 +54,7 @@ Napi::Value Init(const Napi::CallbackInfo& info) {
   Napi::Array jsArgv = info[1].As<Napi::Array>();
   size_t argc = jsArgv.Length();
   char** argv = AbstractArgsFromNapiArray(jsArgv);
+  RCPPUTILS_SCOPE_EXIT({ FreeArgs(argv, argc); });
 
   // Set up the domain id.
   size_t domain_id = RCL_DEFAULT_DOMAIN_ID;
@@ -82,7 +83,6 @@ Napi::Value Init(const Napi::CallbackInfo& info) {
       RCL_RET_OK, rcl_logging_configure(&context->global_arguments, &allocator),
       rcl_get_error_string().str);
 
-  RCPPUTILS_SCOPE_EXIT({ FreeArgs(argv, argc); });
   return env.Undefined();
 }
 
@@ -120,14 +120,13 @@ Napi::Value CreateContext(const Napi::CallbackInfo& info) {
   rcl_context_t* context =
       reinterpret_cast<rcl_context_t*>(malloc(sizeof(rcl_context_t)));
   *context = rcl_get_zero_initialized_context();
-  auto js_obj =
-      RclHandle::NewInstance(env, context, nullptr, [&env](void* ptr) {
-        rcl_context_t* context = reinterpret_cast<rcl_context_t*>(ptr);
-        rcl_ret_t ret = DestroyContext(env, context);
-        free(ptr);
-        THROW_ERROR_IF_NOT_EQUAL_NO_RETURN(RCL_RET_OK, ret,
-                                           rcl_get_error_string().str);
-      });
+  auto js_obj = RclHandle::NewInstance(env, context, nullptr, [env](void* ptr) {
+    rcl_context_t* context = reinterpret_cast<rcl_context_t*>(ptr);
+    rcl_ret_t ret = DestroyContext(env, context);
+    free(ptr);
+    THROW_ERROR_IF_NOT_EQUAL_NO_RETURN(RCL_RET_OK, ret,
+                                       rcl_get_error_string().str);
+  });
 
   return js_obj;
 }

package/src/rcl_graph_bindings.cpp

@@ -18,10 +18,10 @@
 #include <rcl/graph.h>
 #include <rcl/rcl.h>
 
-#include <rcpputils/scope_exit.hpp>
-// NOLINTNEXTLINE
 #include <string>
 
+#include <rcpputils/scope_exit.hpp>
+
 #include "macros.h"
 #include "rcl_handle.h"
 #include "rcl_utilities.h"

package/src/rcl_guard_condition_bindings.cpp

@@ -17,6 +17,8 @@
 #include <rcl/error_handling.h>
 #include <rcl/rcl.h>
 
+#include <string>
+
 #include "macros.h"
 #include "rcl_handle.h"
 #include "rcl_utilities.h"
@@ -37,9 +39,16 @@ Napi::Value CreateGuardCondition(const Napi::CallbackInfo& info) {
   rcl_guard_condition_options_t gc_options =
       rcl_guard_condition_get_default_options();
 
-  THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK,
-                           rcl_guard_condition_init(gc, context, gc_options),
-                           rcl_get_error_string().str);
+  {
+    rcl_ret_t ret = rcl_guard_condition_init(gc, context, gc_options);
+    if (RCL_RET_OK != ret) {
+      std::string error_msg = rcl_get_error_string().str;
+      rcl_reset_error();
+      free(gc);
+      Napi::Error::New(env, error_msg).ThrowAsJavaScriptException();
+      return env.Undefined();
+    }
+  }
 
   auto handle = RclHandle::NewInstance(env, gc, nullptr, [env](void* ptr) {
     rcl_guard_condition_t* gc = reinterpret_cast<rcl_guard_condition_t*>(ptr);

package/src/rcl_lifecycle_bindings.cpp

@@ -79,11 +79,17 @@ Napi::Value CreateLifecycleStateMachine(const Napi::CallbackInfo& info) {
   RclHandle* clock_handle = RclHandle::Unwrap(info[2].As<Napi::Object>());
   rcl_clock_t* clock = reinterpret_cast<rcl_clock_t*>(clock_handle->ptr());
 
-  THROW_ERROR_IF_NOT_EQUAL(
-      RCL_RET_OK,
-      rcl_lifecycle_state_machine_init(state_machine, node, clock, pn, cs, gs,
-                                       gas, gat, gtg, &options),
-      rcl_get_error_string().str);
+  {
+    rcl_ret_t ret = rcl_lifecycle_state_machine_init(
+        state_machine, node, clock, pn, cs, gs, gas, gat, gtg, &options);
+    if (RCL_RET_OK != ret) {
+      std::string error_msg = rcl_get_error_string().str;
+      rcl_reset_error();
+      free(state_machine);
+      Napi::Error::New(env, error_msg).ThrowAsJavaScriptException();
+      return env.Undefined();
+    }
+  }
 
   auto js_obj = RclHandle::NewInstance(
       env, state_machine, node_handle, [node, env](void* ptr) {
@@ -99,11 +105,17 @@ Napi::Value CreateLifecycleStateMachine(const Napi::CallbackInfo& info) {
       rcl_lifecycle_get_default_state_machine_options();
   options.enable_com_interface = info[1].As<Napi::Boolean>().Value();
 
-  THROW_ERROR_IF_NOT_EQUAL(
-      RCL_RET_OK,
-      rcl_lifecycle_state_machine_init(state_machine, node, pn, cs, gs, gas,
-                                       gat, gtg, &options),
-      rcl_get_error_string().str);
+  {
+    rcl_ret_t ret = rcl_lifecycle_state_machine_init(
+        state_machine, node, pn, cs, gs, gas, gat, gtg, &options);
+    if (RCL_RET_OK != ret) {
+      std::string error_msg = rcl_get_error_string().str;
+      rcl_reset_error();
+      free(state_machine);
+      Napi::Error::New(env, error_msg).ThrowAsJavaScriptException();
+      return env.Undefined();
+    }
+  }
 
   auto js_obj = RclHandle::NewInstance(
       env, state_machine, node_handle, [node, env](void* ptr) {
@@ -118,11 +130,18 @@ Napi::Value CreateLifecycleStateMachine(const Napi::CallbackInfo& info) {
   const rcl_node_options_t* node_options =
       reinterpret_cast<const rcl_node_options_t*>(rcl_node_get_options(node));
 
-  THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK,
-                           rcl_lifecycle_state_machine_init(
-                               state_machine, node, pn, cs, gs, gas, gat, gtg,
-                               true, &node_options->allocator),
-                           rcl_get_error_string().str);
+  {
+    rcl_ret_t ret = rcl_lifecycle_state_machine_init(
+        state_machine, node, pn, cs, gs, gas, gat, gtg, true,
+        &node_options->allocator);
+    if (RCL_RET_OK != ret) {
+      std::string error_msg = rcl_get_error_string().str;
+      rcl_reset_error();
+      free(state_machine);
+      Napi::Error::New(env, error_msg).ThrowAsJavaScriptException();
+      return env.Undefined();
+    }
+  }
 
   auto js_obj = RclHandle::NewInstance(
       env, state_machine, node_handle, [node, node_options, env](void* ptr) {

package/src/rcl_node_bindings.cpp

@@ -224,10 +224,17 @@ Napi::Value CreateNode(const Napi::CallbackInfo& info) {
     options.rosout_qos = *qos_profile;
   }
 
-  THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK,
-                           rcl_node_init(node, node_name.c_str(),
-                                         name_space.c_str(), context, &options),
-                           rcl_get_error_string().str);
+  {
+    rcl_ret_t ret = rcl_node_init(node, node_name.c_str(), name_space.c_str(),
+                                  context, &options);
+    if (RCL_RET_OK != ret) {
+      std::string error_msg = rcl_get_error_string().str;
+      rcl_reset_error();
+      free(node);
+      Napi::Error::New(env, error_msg).ThrowAsJavaScriptException();
+      return env.Undefined();
+    }
+  }
 
   auto handle = RclHandle::NewInstance(env, node, nullptr, [env](void* ptr) {
     rcl_node_t* node = reinterpret_cast<rcl_node_t*>(ptr);

package/src/rcl_publisher_bindings.cpp

@@ -51,9 +51,17 @@ Napi::Value CreatePublisher(const Napi::CallbackInfo& info) {
       publisher_ops.qos = *qos_profile;
     }
 
-    THROW_ERROR_IF_NOT_EQUAL(
-        rcl_publisher_init(publisher, node, ts, topic.c_str(), &publisher_ops),
-        RCL_RET_OK, rcl_get_error_string().str);
+    {
+      rcl_ret_t ret = rcl_publisher_init(publisher, node, ts, topic.c_str(),
+                                         &publisher_ops);
+      if (RCL_RET_OK != ret) {
+        std::string error_msg = rcl_get_error_string().str;
+        rcl_reset_error();
+        free(publisher);
+        Napi::Error::New(env, error_msg).ThrowAsJavaScriptException();
+        return env.Undefined();
+      }
+    }
 
     auto js_obj = RclHandle::NewInstance(
         env, publisher, node_handle, [node, env](void* ptr) {
@@ -66,6 +74,7 @@ Napi::Value CreatePublisher(const Napi::CallbackInfo& info) {
 
     return js_obj;
   } else {
+    free(publisher);
     Napi::Error::New(env, GetErrorMessageAndClear())
         .ThrowAsJavaScriptException();
     return env.Undefined();

package/src/rcl_service_bindings.cpp

@@ -52,9 +52,17 @@ Napi::Value CreateService(const Napi::CallbackInfo& info) {
       service_ops.qos = *qos_profile;
     }
 
-    THROW_ERROR_IF_NOT_EQUAL(
-        rcl_service_init(service, node, ts, service_name.c_str(), &service_ops),
-        RCL_RET_OK, rcl_get_error_string().str);
+    {
+      rcl_ret_t ret = rcl_service_init(service, node, ts, service_name.c_str(),
+                                       &service_ops);
+      if (RCL_RET_OK != ret) {
+        std::string error_msg = rcl_get_error_string().str;
+        rcl_reset_error();
+        free(service);
+        Napi::Error::New(env, error_msg).ThrowAsJavaScriptException();
+        return env.Undefined();
+      }
+    }
     auto js_obj = RclHandle::NewInstance(
         env, service, node_handle, [node, env](void* ptr) {
           rcl_service_t* service = reinterpret_cast<rcl_service_t*>(ptr);
@@ -88,6 +96,7 @@ Napi::Value RclTakeRequest(const Napi::CallbackInfo& info) {
     return js_obj;
   }
 
+  free(header);
   return env.Undefined();
 }