Keep PR#702 to just the minimum needed to fix #592

Author: Alain Sanguinetti

planning/kinematics_plugin_loader/include/moveit/kinematics_plugin_loader/kinematics_plugin_loader.h

@@ -62,6 +62,8 @@ class KinematicsPluginLoader
   {
   }
 
+  ~KinematicsPluginLoader();
+
   /** \brief Use a default kinematics solver (\e solver_plugin) for
       all the groups in the robot model. The default timeout for the
       solver is \e solve_timeout and the default number of IK attempts

planning/kinematics_plugin_loader/src/kinematics_plugin_loader.cpp

@@ -76,6 +76,14 @@ class KinematicsPluginLoader::KinematicsLoaderImpl
     }
   }
 
+  /**
+   * \brief Explicit destructor to avoid bugs in unloading the library
+   */
+  ~KinematicsLoaderImpl( )
+  {
+      kinematics_loader_.reset(); // we delete it manually
+  }
+
   /**
    * \brief Helper function to decide which, and how many, tip frames a planning group has
    * \param jmg - joint model group pointer
@@ -243,6 +251,10 @@ void kinematics_plugin_loader::KinematicsPluginLoader::status() const
     ROS_INFO("Loader function was never required");
 }
 
+kinematics_plugin_loader::KinematicsPluginLoader::~KinematicsPluginLoader()
+{
+}
+
 robot_model::SolverAllocatorFn kinematics_plugin_loader::KinematicsPluginLoader::getLoaderFunction()
 {
   moveit::tools::Profiler::ScopedStart prof_start;