Multiple memory cleanup fixes

[mjcarroll]

🦟 Bug fix

Summary

Clean up remaining memory issues found with ASAN. Unblocks some work on #569.

This fixes all asan issues except for one in AudioDecoder, which I'm going to skip for now. I'm not convinced audio decoder is really doing the right thing (or the useful thing), and there are no downstream users for it.

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[codecov]

Codecov Report

Attention: 2 lines in your changes are missing coverage. Please review.

Comparison is base (0b8428a) 83.65% compared to head (abcf273) 83.65%.
Report is 1 commits behind head on gz-common5.

❗ Current head abcf273 differs from pull request most recent head eaf8e3e. Consider uploading reports for the commit eaf8e3e to get more accurate results

Files	Patch %	Lines
graphics/src/Image.cc	66.66%	2 Missing ⚠️

Additional details and impacted files

@@              Coverage Diff               @@
##           gz-common5     #571      +/-   ##
==============================================
- Coverage       83.65%   83.65%   -0.01%     
==============================================
  Files              90       92       +2     
  Lines           10273    10285      +12     
==============================================
+ Hits             8594     8604      +10     
- Misses           1679     1681       +2     

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[mjcarroll]

Still chasing one or two more here.

[mjcarroll]

@osrf-jenkins retest this please