Fix ClassLoader warning

ros.rosconsole_bridge.class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload /opt/ros/one/lib//libprbt_manipulator_moveit_ikfast_plugin.so while objects created by this library still exist in the heap! You should delete your objects before destroying the ClassLoader. The library will NOT be unloaded. We need to delete the RobotModelLoader after the RobotModel.
ubi-agni · Dec 20, 2024 · ce61fac · ce61fac
1 parent c53601d
commit ce61fac
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Showing 11 changed files with 23 additions and 16 deletions.
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_command_list_manager.cpp b/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_command_list_manager.cpp
@@ -93,7 +93,8 @@ class IntegrationTestCommandListManager : public testing::Test
 protected:
   // ros stuff
   ros::NodeHandle ph_{ "~" };
-  robot_model::RobotModelConstPtr robot_model_{ robot_model_loader::RobotModelLoader(ROBOT_DESCRIPTION_STR).getModel() };
+  robot_model_loader::RobotModelLoader robot_model_loader_{ ROBOT_DESCRIPTION_STR };
+  robot_model::RobotModelConstPtr robot_model_{ robot_model_loader_.getModel() };
   std::shared_ptr<pilz_industrial_motion_planner::CommandListManager> manager_;
   planning_scene::PlanningScenePtr scene_;
   planning_pipeline::PlanningPipelinePtr pipeline_;

diff --git a/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_get_solver_tip_frame.cpp b/moveit_planners/pilz_industrial_motion_planner/test/integrationtest_get_solver_tip_frame.cpp
@@ -56,9 +56,8 @@ class GetSolverTipFrameIntegrationTest : public testing::Test
   void SetUp() override;
 
 protected:
-  robot_model::RobotModelConstPtr robot_model_{
-    robot_model_loader::RobotModelLoader(ROBOT_DESCRIPTION_PARAM).getModel()
-  };
+  robot_model_loader::RobotModelLoader robot_model_loader_{ ROBOT_DESCRIPTION_PARAM };
+  robot_model::RobotModelConstPtr robot_model_{ robot_model_loader_.getModel() };
 };
 
 void GetSolverTipFrameIntegrationTest::SetUp()

diff --git a/..._planners/pilz_industrial_motion_planner/test/integrationtest_plan_components_builder.cpp b/..._planners/pilz_industrial_motion_planner/test/integrationtest_plan_components_builder.cpp
@@ -59,7 +59,8 @@ class IntegrationTestPlanComponentBuilder : public testing::Test
 
 protected:
   ros::NodeHandle ph_{ "~" };
-  robot_model::RobotModelConstPtr robot_model_{ robot_model_loader::RobotModelLoader(ROBOT_DESCRIPTION_STR).getModel() };
+  robot_model_loader::RobotModelLoader robot_model_loader_{ ROBOT_DESCRIPTION_STR };
+  robot_model::RobotModelConstPtr robot_model_{ robot_model_loader_.getModel() };
   planning_scene::PlanningSceneConstPtr planning_scene_{ new planning_scene::PlanningScene(robot_model_) };
 
   std::string planning_group_;

diff --git a/..._planners/pilz_industrial_motion_planner/test/unittest_pilz_industrial_motion_planner.cpp b/..._planners/pilz_industrial_motion_planner/test/unittest_pilz_industrial_motion_planner.cpp
@@ -104,7 +104,8 @@ class CommandPlannerTest : public testing::TestWithParam<std::string>
 protected:
   // ros stuff
   ros::NodeHandle ph_{ "~" };
-  robot_model::RobotModelConstPtr robot_model_{ robot_model_loader::RobotModelLoader(GetParam()).getModel() };
+  robot_model_loader::RobotModelLoader robot_model_loader_{ GetParam() };
+  robot_model::RobotModelConstPtr robot_model_{ robot_model_loader_.getModel() };
 
   std::string planner_plugin_name_;
 

diff --git a/moveit_planners/pilz_industrial_motion_planner/test/unittest_planning_context_loaders.cpp b/moveit_planners/pilz_industrial_motion_planner/test/unittest_planning_context_loaders.cpp
@@ -97,7 +97,8 @@ class PlanningContextLoadersTest : public ::testing::TestWithParam<std::vector<s
 
 protected:
   ros::NodeHandle ph_{ "~" };
-  robot_model::RobotModelConstPtr robot_model_{ robot_model_loader::RobotModelLoader(GetParam().back()).getModel() };
+  robot_model_loader::RobotModelLoader robot_model_loader_{ GetParam().back() };
+  robot_model::RobotModelConstPtr robot_model_{ robot_model_loader_.getModel() };
 
   // Load the plugin
   std::unique_ptr<pluginlib::ClassLoader<pilz_industrial_motion_planner::PlanningContextLoader>>

diff --git a/...ers/pilz_industrial_motion_planner/test/unittest_trajectory_blender_transition_window.cpp b/...ers/pilz_industrial_motion_planner/test/unittest_trajectory_blender_transition_window.cpp
@@ -89,7 +89,8 @@ class TrajectoryBlenderTransitionWindowTest : public testing::TestWithParam<std:
 protected:
   // ros stuff
   ros::NodeHandle ph_{ "~" };
-  robot_model::RobotModelConstPtr robot_model_{ robot_model_loader::RobotModelLoader(GetParam()).getModel() };
+  robot_model_loader::RobotModelLoader robot_model_loader_{ GetParam() };
+  robot_model::RobotModelConstPtr robot_model_{ robot_model_loader_.getModel() };
   planning_scene::PlanningSceneConstPtr planning_scene_{ new planning_scene::PlanningScene(robot_model_) };
 
   std::unique_ptr<TrajectoryGenerator> lin_generator_;

diff --git a/moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_functions.cpp b/moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_functions.cpp
@@ -104,7 +104,8 @@ class TrajectoryFunctionsTestBase : public testing::TestWithParam<std::string>
 protected:
   // ros stuff
   ros::NodeHandle ph_{ "~" };
-  robot_model::RobotModelConstPtr robot_model_{ robot_model_loader::RobotModelLoader(GetParam()).getModel() };
+  robot_model_loader::RobotModelLoader robot_model_loader_{ GetParam() };
+  robot_model::RobotModelConstPtr robot_model_{ robot_model_loader_.getModel() };
   robot_state::RobotState robot_state_{ robot_model_ };
   planning_scene::PlanningSceneConstPtr planning_scene_{ new planning_scene::PlanningScene(robot_model_) };
 

diff --git a/moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_generator_circ.cpp b/moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_generator_circ.cpp
@@ -90,7 +90,8 @@ class TrajectoryGeneratorCIRCTest : public testing::TestWithParam<std::string>
 protected:
   // ros stuff
   ros::NodeHandle ph_{ "~" };
-  robot_model::RobotModelConstPtr robot_model_{ robot_model_loader::RobotModelLoader(GetParam()).getModel() };
+  robot_model_loader::RobotModelLoader robot_model_loader_{ GetParam() };
+  robot_model::RobotModelConstPtr robot_model_{ robot_model_loader_.getModel() };
   planning_scene::PlanningSceneConstPtr planning_scene_{ new planning_scene::PlanningScene(robot_model_) };
   std::unique_ptr<TrajectoryGeneratorCIRC> circ_;
   // test data provider

diff --git a/moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_generator_common.cpp b/moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_generator_common.cpp
@@ -144,10 +144,9 @@ class TrajectoryGeneratorCommonTest : public ::testing::Test
 protected:
   // ros stuff
   ros::NodeHandle ph_{ "~" };
-  robot_model::RobotModelConstPtr robot_model_{
-    robot_model_loader::RobotModelLoader(!T::VALUE ? PARAM_MODEL_NO_GRIPPER_NAME : PARAM_MODEL_WITH_GRIPPER_NAME)
-        .getModel()
-  };
+  robot_model_loader::RobotModelLoader robot_model_loader_{ !T::VALUE ? PARAM_MODEL_NO_GRIPPER_NAME :
+                                                                        PARAM_MODEL_WITH_GRIPPER_NAME };
+  robot_model::RobotModelConstPtr robot_model_{ robot_model_loader_.getModel() };
   planning_scene::PlanningSceneConstPtr planning_scene_{ new planning_scene::PlanningScene(robot_model_) };
 
   // trajectory generator

diff --git a/moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_generator_lin.cpp b/moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_generator_lin.cpp
@@ -90,7 +90,8 @@ class TrajectoryGeneratorLINTest : public testing::TestWithParam<std::string>
 protected:
   // ros stuff
   ros::NodeHandle ph_{ "~" };
-  robot_model::RobotModelConstPtr robot_model_{ robot_model_loader::RobotModelLoader(GetParam()).getModel() };
+  robot_model_loader::RobotModelLoader robot_model_loader_{ GetParam() };
+  robot_model::RobotModelConstPtr robot_model_{ robot_model_loader_.getModel() };
   planning_scene::PlanningSceneConstPtr planning_scene_{ new planning_scene::PlanningScene(robot_model_) };
 
   // lin trajectory generator using model without gripper

diff --git a/moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_generator_ptp.cpp b/moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_generator_ptp.cpp
@@ -81,7 +81,8 @@ class TrajectoryGeneratorPTPTest : public testing::TestWithParam<std::string>
 protected:
   // ros stuff
   ros::NodeHandle ph_{ "~" };
-  robot_model::RobotModelConstPtr robot_model_{ robot_model_loader::RobotModelLoader(GetParam()).getModel() };
+  robot_model_loader::RobotModelLoader robot_model_loader_{ GetParam() };
+  robot_model::RobotModelConstPtr robot_model_{ robot_model_loader_.getModel() };
   planning_scene::PlanningSceneConstPtr planning_scene_{ new planning_scene::PlanningScene(robot_model_) };
 
   // trajectory generator