diff --git a/planning/kinematics_plugin_loader/src/kinematics_plugin_loader.cpp b/planning/kinematics_plugin_loader/src/kinematics_plugin_loader.cpp
index 4b1eccb076..7cf57e4951 100644
--- 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