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#592 fixed by manually resetting the kinematics loader #702

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#592 fixed by manually resetting the kinematics loader #702

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8 changes: 8 additions & 0 deletions planning/kinematics_plugin_loader/src/kinematics_plugin_loader.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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is this the only important line?

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yes

}

/**
* \brief Helper function to decide which, and how many, tip frames a planning group has
* \param jmg - joint model group pointer
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