Manual reset of the kinematics loader implementation shared pointer t…

…o avoid bug #592
moveit · Jul 6, 2016 · 383a895 · 383a895
1 parent 30bb70f
commit 383a895
Showing 1 changed file with 8 additions and 0 deletions.
diff --git a/planning/kinematics_plugin_loader/src/kinematics_plugin_loader.cpp b/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