Revert "#592 fixed by manually resetting the kinematics loader"

This reverts commit ef55f65.

Author: Alain Sanguinetti

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

@@ -62,8 +62,6 @@ 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

@@ -76,11 +76,6 @@ class KinematicsPluginLoader::KinematicsLoaderImpl
     }
   }
 
-  ~KinematicsLoaderImpl( ) {
-      kinematics_loader_.reset(); // we delete it manually
-      ROS_DEBUG( "KinematicsLoaderImpl destructor");
-  }
-
   /**
    * \brief Helper function to decide which, and how many, tip frames a planning group has
    * \param jmg - joint model group pointer
@@ -248,11 +243,6 @@ void kinematics_plugin_loader::KinematicsPluginLoader::status() const
     ROS_INFO("Loader function was never required");
 }
 
-kinematics_plugin_loader::KinematicsPluginLoader::~KinematicsPluginLoader()
-{
-    ROS_DEBUG( "KinematicsPluginLoader destructor" );
-}
-
 robot_model::SolverAllocatorFn kinematics_plugin_loader::KinematicsPluginLoader::getLoaderFunction()
 {
   moveit::tools::Profiler::ScopedStart prof_start;

planning/planning_scene_monitor/src/current_state_monitor.cpp

@@ -51,8 +51,6 @@ planning_scene_monitor::CurrentStateMonitor::CurrentStateMonitor(const robot_mod
 planning_scene_monitor::CurrentStateMonitor::~CurrentStateMonitor()
 {
   stopStateMonitor();
-
-  ROS_DEBUG( "CurrentStateMonitor destructor finished." );
 }
 
 robot_state::RobotStatePtr planning_scene_monitor::CurrentStateMonitor::getCurrentState() const

planning/robot_model_loader/src/robot_model_loader.cpp

@@ -51,12 +51,11 @@ robot_model_loader::RobotModelLoader::RobotModelLoader(const Options &opt)
   configure(opt);
 }
 
-robot_model_loader::RobotModelLoader::~RobotModelLoader() {
+robot_model_loader::RobotModelLoader::~RobotModelLoader()
+{
   model_.reset();
   rdf_loader_.reset();
   kinematics_loader_.reset();
-
-  ROS_DEBUG( "Robot model loader destructor" );
 }
 
 namespace

planning_interface/common_planning_interface_objects/src/common_objects.cpp

@@ -48,17 +48,9 @@ struct SharedStorage
 
   ~SharedStorage()
   {
-    ROS_DEBUG( "Shared storage destructor begins" );
     tf_.reset();
-    ROS_DEBUG( "TF was reset" );
-
     state_monitors_.clear();
-    ROS_DEBUG( "state_monitors_ was cleared" );
-
     model_loaders_.clear();
-    ROS_DEBUG( "model_loaders_ was cleared" );
-
-    ROS_DEBUG( "Shared storage destructor finished" );
   }
 
   boost::mutex lock_;

planning_interface/move_group_interface/src/move_group.cpp

@@ -195,11 +195,10 @@ class MoveGroup::MoveGroupImpl
     }
   }
 
-  ~MoveGroupImpl() {
-    ROS_DEBUG( "MoveGroupImpl destructor begins" );
+  ~MoveGroupImpl()
+  {
     if (constraints_init_thread_)
       constraints_init_thread_->join();
-    ROS_DEBUG( "MoveGroupImpl destructor finished" );
   }
 
   const boost::shared_ptr<tf::Transformer>& getTF() const
@@ -1091,13 +1090,13 @@ moveit::planning_interface::MoveGroup::MoveGroup(const Options &opt, const boost
   impl_ = new MoveGroupImpl(opt, tf ? tf : getSharedTF(), wait_for_server);
 }
 
-moveit::planning_interface::MoveGroup::~MoveGroup() {
+moveit::planning_interface::MoveGroup::~MoveGroup()
+{
   delete impl_;
-
-  ROS_DEBUG( "MoveGroup destructor finished" );
 }
 
-const std::string& moveit::planning_interface::MoveGroup::getName() const {
+const std::string& moveit::planning_interface::MoveGroup::getName() const
+{
   return impl_->getOptions().group_name_;
 }