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Fix severe warning from class loader in servo (backport #3577) #3598

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Merged
nbbrooks merged 1 commit into from
Nov 27, 2025
Merged

Fix severe warning from class loader in servo (backport #3577) #3598

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3 changes: 3 additions & 0 deletions moveit_ros/moveit_servo/include/moveit_servo/servo.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -229,6 +229,9 @@ class Servo
std::atomic<double> collision_velocity_scale_ = 1.0;
std::unique_ptr<CollisionMonitor> collision_monitor_;

// Plugin loader
std::unique_ptr<pluginlib::ClassLoader<online_signal_smoothing::SmoothingBaseClass>> smoother_loader_;

// Pointer to the (optional) smoothing plugin.
pluginlib::UniquePtr<online_signal_smoothing::SmoothingBaseClass> smoother_ = nullptr;

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4 changes: 2 additions & 2 deletions moveit_ros/moveit_servo/src/servo.cpp
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Expand Up @@ -139,9 +139,9 @@ void Servo::setSmoothingPlugin()
// Load the smoothing plugin
try
{
pluginlib::ClassLoader<online_signal_smoothing::SmoothingBaseClass> smoothing_loader(
smoother_loader_ = std::make_unique<pluginlib::ClassLoader<online_signal_smoothing::SmoothingBaseClass>>(
"moveit_core", "online_signal_smoothing::SmoothingBaseClass");
smoother_ = smoothing_loader.createUniqueInstance(servo_params_.smoothing_filter_plugin_name);
smoother_ = smoother_loader_->createUniqueInstance(servo_params_.smoothing_filter_plugin_name);
}
catch (pluginlib::PluginlibException& ex)
{
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