Fix action client & server deallocation

rclc/src/rclc/action_client.c

@@ -190,12 +190,14 @@ rclc_action_client_fini(
     action_client->allocator->deallocate(
       action_client->goal_handles_memory,
       action_client->allocator->state);
+    action_client->goal_handles_memory = NULL;
   }
 
   if (NULL != action_client->ros_cancel_response.goals_canceling.data) {
     action_client->allocator->deallocate(
       action_client->ros_cancel_response.goals_canceling.data,
       action_client->allocator->state);
+    action_client->ros_cancel_response.goals_canceling.data = NULL;
   }
 
   rc = rcl_action_client_fini(&action_client->rcl_handle, node);

rclc/src/rclc/action_server.c

@@ -207,6 +207,7 @@ rclc_action_server_fini(
     action_server->allocator->deallocate(
       action_server->goal_handles_memory,
       action_server->allocator->state);
+    action_server->goal_handles_memory = NULL;
   }
 
   rc = rcl_action_server_fini(&action_server->rcl_handle, node);

rclc/test/rclc/test_action_server.cpp

@@ -706,6 +706,53 @@ TEST_F(ActionServerTest, multi_goal_accept_feedback_and_result) {
   ASSERT_EQ(goals.size(), 0U);
 }
 
+TEST(Test, rclc_action_server_regression_1) {
+  rclc_support_t support;
+  rcl_node_t node;
+  rcl_ret_t rc;
+
+  rcl_allocator_t allocator = rcl_get_default_allocator();
+  rc = rclc_support_init(&support, 0, nullptr, &allocator);
+  rc = rclc_node_init_default(&node, "my_node", "my_namespace", &support);
+  EXPECT_EQ(RCL_RET_OK, rc);
+
+  rclc_action_server_t action_server;
+  rc = rclc_action_server_init_default(
+    &action_server,
+    &node,
+    &support,
+    ROSIDL_GET_ACTION_TYPE_SUPPORT(example_interfaces, Fibonacci),
+    "fibonacci"
+  );
+  EXPECT_EQ(RCL_RET_OK, rc);
+
+  rclc_executor_t executor;
+  rclc_executor_init(&executor, &support.context, 1, &allocator);
+
+  example_interfaces__action__Fibonacci_SendGoal_Request ros_goal_request[RCLC_MAX_GOALS];
+
+  rc = rclc_executor_add_action_server(
+    &executor,
+    &action_server,
+    RCLC_MAX_GOALS,
+    ros_goal_request,
+    sizeof(example_interfaces__action__Fibonacci_SendGoal_Request),
+    [](rclc_action_goal_handle_t * /* goal_handle */, void * /* context */) -> rcl_ret_t {
+      return RCL_RET_ACTION_GOAL_REJECTED;
+    },
+    [](rclc_action_goal_handle_t * /* goal_handle */, void * /* context */) -> bool {
+      return false;
+    },
+    &action_server);
+
+  EXPECT_EQ(RCL_RET_OK, rc);
+
+  EXPECT_EQ(RCL_RET_OK, rclc_action_server_fini(&action_server, &node));
+
+  // Second time should be safe
+  EXPECT_EQ(RCL_RET_OK, rclc_action_server_fini(&action_server, &node));
+}
+
 int main(int args, char ** argv)
 {
   ::testing::InitGoogleTest(&args, argv);