Fix obvious asan warnings. (#787)

Adds a few missing overrides and removes a std::move that
prevented copy elision.

cartographer_grpc/framework/rpc.cc

@@ -79,6 +79,8 @@ void Rpc::OnFinish() { handler_->OnFinish(); }
 void Rpc::RequestNextMethodInvocation() {
   // Ask gRPC to notify us when the connection terminates.
   SetRpcEventState(Event::DONE, true);
+  // TODO(gaschler): Asan reports direct leak of this new from both calls
+  // StartServing and HandleNewConnection.
   server_context_.AsyncNotifyWhenDone(
       new RpcEvent{Event::DONE, weak_ptr_factory_(this), true});
 

cartographer_grpc/framework/rpc_handler.h

@@ -58,7 +58,7 @@ class RpcHandler : public RpcHandlerInterface {
     const std::weak_ptr<Rpc> rpc_;
   };
 
-  void SetExecutionContext(ExecutionContext* execution_context) {
+  void SetExecutionContext(ExecutionContext* execution_context) override {
     execution_context_ = execution_context;
   }
   void SetRpc(Rpc* rpc) override { rpc_ = rpc; }

cartographer_grpc/handlers/add_fixed_frame_pose_data_handler.h

@@ -42,7 +42,7 @@ class AddFixedFramePoseDataHandler
             cartographer::sensor::FromProto(request.fixed_frame_pose_data()));
   }
 
-  void OnReadsDone() {
+  void OnReadsDone() override {
     Send(cartographer::common::make_unique<google::protobuf::Empty>());
   }
 };

cartographer_grpc/handlers/add_imu_data_handler.h

@@ -41,7 +41,7 @@ class AddImuDataHandler
             cartographer::sensor::FromProto(request.imu_data()));
   }
 
-  void OnReadsDone() {
+  void OnReadsDone() override {
     Send(cartographer::common::make_unique<google::protobuf::Empty>());
   }
 };

cartographer_grpc/handlers/add_odometry_data_handler.h

@@ -42,7 +42,7 @@ class AddOdometryDataHandler
             cartographer::sensor::FromProto(request.odometry_data()));
   }
 
-  void OnReadsDone() {
+  void OnReadsDone() override {
     Send(cartographer::common::make_unique<google::protobuf::Empty>());
   }
 };

cartographer_grpc/handlers/add_rangefinder_data_handler.h

@@ -42,7 +42,7 @@ class AddRangefinderDataHandler
             cartographer::sensor::FromProto(request.timed_point_cloud_data()));
   }
 
-  void OnReadsDone() {
+  void OnReadsDone() override {
     Send(cartographer::common::make_unique<google::protobuf::Empty>());
   }
 };

cartographer_grpc/handlers/finish_trajectory_handler.h

@@ -36,8 +36,7 @@ class FinishTrajectoryHandler
         .FinishTrajectory(request.trajectory_id());
     GetUnsynchronizedContext<MapBuilderServer::MapBuilderContext>()
         ->NotifyFinishTrajectory(request.trajectory_id());
-    Send(std::move(
+    Send(cartographer::common::make_unique<google::protobuf::Empty>());
-        cartographer::common::make_unique<google::protobuf::Empty>()));
   }
 };