Ros memory usage

edit

I i'm trying to use an old c++ library of a task planner in ROS. I've tested the library outside ROS and it's works fine. Using Valgrind I can see a lot of memory leaks, but it's Ok, as I say everything works and pass sucessfully the test battery.

The problem is when I call the same functions in a ROS node: the program crashes when I delete the memory of a pointer

*** Error in `./devel/lib/task_executor/task_executor': free(): invalid next size (fast): 0x0000000001a0cf40 ***

Using Valgrind it gives me this last error before the stacktrace

valgrind: m_mallocfree.c:304 (get_bszB_as_is): Assertion 'bszB_lo == bszB_hi' failed.
valgrind: Heap block lo/hi size mismatch: lo = 160, hi = 0.
This is probably caused by your program erroneously writing past the
end of a heap block and corrupting heap metadata.  If you fix any
invalid writes reported by Memcheck, this assertion failure will
probably go away.  Please try that before reporting this as a bug.

And literally the only changes between the compilation that works and the other that crashes is that in the first I use Make manually and in the other I compile with catkin.

I'm missing something about ROS and his memory usage and I need some orientation.

Thanks.

ps. The code of the function that contains the delete

bool parse(string domain, string problem){

  if(domain.length() == 0){
    ROS_INFO_STREAM( "Error: Undefined domain file." << endl);
    return true;
  }

  if(problem.length() == 0 ){
    ROS_INFO_STREAM( "Error: Undefined problem file." << endl);
    return true;
  }

  parser_api = new PAPI();
  try{
    parser_api->parse(domain.c_str(),problem.c_str(),true);
  }
  catch(exception &e){
     ROS_INFO_STREAM( "Exception caught!: " << e.what() << endl);
  }
  catch(...) {
    ROS_INFO_STREAM( "Exception caught!: ??" << endl);
  }
  bool errors = parser_api->errors;
  delete parser_api;
  return errors;
}