Implement allocator refactor for type support structs

Signed-off-by: methylDragon <methylDragon@gmail.com>

Author: methylDragon

rclcpp/src/rclcpp/dynamic_typesupport/dynamic_message_type_support.cpp

@@ -311,12 +311,13 @@ DynamicMessageTypeSupport::init_rosidl_message_type_support_(
 
   rosidl_dynamic_message_type_support_impl_t * ts_impl =
     new rosidl_dynamic_message_type_support_impl_t {
-    type_hash.get(),                                              // type_hash
-    description,                                                  // type_description
-    nullptr,    // NOTE(methylDragon): Not supported for now      // type_description_sources
-    serialization_support->get_rosidl_serialization_support(),    // serialization_support
-    dynamic_message_type->get_rosidl_dynamic_type(),              // dynamic_message_type
-    dynamic_message->get_rosidl_dynamic_data()                    // dynamic_message
+    rcutils_get_default_allocator(),                            // allocator
+    type_hash.get(),                                            // type_hash
+    description,                                                // type_description
+    nullptr,    // NOTE(methylDragon): Not supported for now    // type_description_sources
+    serialization_support->get_rosidl_serialization_support(),  // serialization_support
+    dynamic_message_type->get_rosidl_dynamic_type(),            // dynamic_message_type
+    dynamic_message->get_rosidl_dynamic_data()                  // dynamic_message
   };
   if (!ts_impl) {
     throw std::runtime_error(
@@ -326,26 +327,29 @@ DynamicMessageTypeSupport::init_rosidl_message_type_support_(
 
   // NOTE(methylDragon): We don't finalize the rosidl_message_type_support->data since its members
   //                     are managed by the passed in SharedPtr wrapper classes. We just delete it.
+  /* *INDENT-OFF* */
   rosidl_message_type_support_.reset(
     new rosidl_message_type_support_t{
-    rmw_get_dynamic_typesupport_identifier(),             // typesupport_identifier
-    ts_impl,                                              // data
-    get_message_typesupport_handle_function,              // func
-    // get_type_hash_func
-    rosidl_get_dynamic_message_type_support_type_hash_function,
-    // get_type_description_func
-    rosidl_get_dynamic_message_type_support_type_description_function,
+    rmw_get_dynamic_typesupport_identifier(),                            // typesupport_identifier
+    ts_impl,                                                            // data
+    get_message_typesupport_handle_function,                            // func
+    rosidl_get_dynamic_message_type_support_type_hash_function,         // get_type_hash_func
+    rosidl_get_dynamic_message_type_support_type_description_function,  // get_type_description_func
     // get_type_description_sources_func
     rosidl_get_dynamic_message_type_support_type_description_sources_function
-  },
+    },
+    // Custom deleter
     [](rosidl_message_type_support_t * ts) -> void {
       auto ts_impl = static_cast<const rosidl_dynamic_message_type_support_impl_t *>(ts->data);
+      // User might have passed in a different allocator, but the type hash was allocated using
+      // the default
       auto allocator = rcl_get_default_allocator();
       // Only because we should've allocated it here (also it's C allocated)
       allocator.deallocate(ts_impl->type_hash, &allocator.state);
       delete ts_impl;
     }
   );
+  /* *INDENT-ON* */
 
   if (!rosidl_message_type_support_) {
     throw std::runtime_error("Could not allocate rosidl_message_type_support_t struct");