Use pybind11's smart_holder branch

Author: rhaschke

.gitmodules

@@ -1,4 +1,4 @@
 [submodule "core/python/pybind11"]
 	path = core/python/pybind11
-	url = https://github.com/rhaschke/pybind11
+	url = https://github.com/pybind11/pybind11
 	shallow = true

core/python/pybind11

@@ -18,6 +18,7 @@ install(TARGETS ${TOOLS_LIB_NAME}
 	LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
 )
 
+add_definitions(-DPYBIND11_USE_SMART_HOLDER_AS_DEFAULT)
 
 # python_tools
 set(TOOLS_LIB_NAME _python_tools)

core/python/wrapper/CMakeLists.txt

@@ -76,7 +76,7 @@ void export_core(pybind11::module& m) {
 	});
 
 	// clang-format off
-	py::class_<SolutionBase, SolutionBasePtr>(m, "Solution")
+	py::class_<SolutionBase>(m, "Solution")
 		.def_property("cost", &SolutionBase::cost, &SolutionBase::setCost)
 		.def_property("comment", &SolutionBase::comment, &SolutionBase::setComment)
 		.def("toMsg", [](const SolutionBasePtr& s) {
@@ -169,10 +169,12 @@ void export_core(pybind11::module& m) {
 				throw py::index_error();
 			return child;
 		}, py::return_value_policy::reference_internal)
+#if 0
 		.def("__iter__", [](const ContainerBase &c) {
 			const auto& children = c.pimpl()->children();
 			return py::make_iterator(children.begin(), children.end());
 		}, py::keep_alive<0, 1>())  // keep container alive as long as iterator lives
+#endif
 		;
 
 	py::class_<SerialContainer, ContainerBase>(m, "SerialContainer")
@@ -211,18 +213,20 @@ void export_core(pybind11::module& m) {
 				throw py::index_error();
 			return child;
 		}, py::return_value_policy::reference_internal)
+#if 0
 		.def("__iter__", [](const Task &t) {
 			const auto& children = t.stages()->pimpl()->children();
 			return py::make_iterator(children.begin(), children.end());
 		}, py::keep_alive<0, 1>())  // keep container alive as long as iterator lives
+#endif
 		.def("reset", &Task::reset)
 		.def("init", &Task::init)
 		.def("plan", &Task::plan, py::arg("max_solutions") = 0)
 		.def("preempt", &Task::preempt)
-		.def("publish", [](Task& self, SolutionBasePtr& solution) {
+		.def("publish", [](Task& self, SolutionBasePtr solution) {
 			self.introspection().publishSolution(*solution);
 		})
-		.def("execute", [](const Task& self, SolutionBasePtr& solution) {
+		.def("execute", [](const Task& self, SolutionBasePtr solution) {
 			moveit::planning_interface::PlanningSceneInterface psi;
 			moveit::planning_interface::MoveGroupInterface
 				mgi(solution->start()->scene()->getRobotModel()->getJointModelGroupNames()[0]);

core/python/wrapper/src/core.cpp

@@ -16,13 +16,13 @@ void export_solvers(py::module& m) {
 	PropertyMap& (PlannerInterface::*PlannerInterface_getPropertyMap)() = &PlannerInterface::properties;
 
 	// clang-format off
-	properties::class_<PlannerInterface, PlannerInterfacePtr>(m, "PlannerInterface")
+	properties::class_<PlannerInterface>(m, "PlannerInterface")
 		.property<double>("max_velocity_scaling_factor")
 		.property<double>("max_acceleration_scaling_factor")
 		.def_property_readonly("properties", PlannerInterface_getPropertyMap, py::return_value_policy::reference_internal)
 		;
 
-	properties::class_<PipelinePlanner, PipelinePlannerPtr, PlannerInterface>(m, "PipelinePlanner")
+	properties::class_<PipelinePlanner, PlannerInterface>(m, "PipelinePlanner")
 		.property<std::string>("planner")
 		.property<uint>("num_planning_attempts")
 		.property<moveit_msgs::WorkspaceParameters>("workspace_parameters")
@@ -34,12 +34,12 @@ void export_solvers(py::module& m) {
 		.def(py::init<>())
 		;
 
-	properties::class_<JointInterpolationPlanner, JointInterpolationPlannerPtr, PlannerInterface>(m, "JointInterpolationPlanner")
+	properties::class_<JointInterpolationPlanner, PlannerInterface>(m, "JointInterpolationPlanner")
 		.property<double>("max_step")
 		.def(py::init<>())
 		;
 
-	properties::class_<CartesianPath, CartesianPathPtr, PlannerInterface>(m, "CartesianPath")
+	properties::class_<CartesianPath, PlannerInterface>(m, "CartesianPath")
 		.property<double>("step_size")
 		.property<double>("jump_threshold")
 		.property<double>("min_fraction")