Replace pointers with values

Author: ChrisThrasher

controller_manager/include/controller_manager/controller_manager.hpp

@@ -384,9 +384,8 @@ class ControllerManager : public rclcpp::Node
 
   std::shared_ptr<rclcpp::Executor> executor_;
 
-  std::shared_ptr<pluginlib::ClassLoader<controller_interface::ControllerInterface>> loader_;
-  std::shared_ptr<pluginlib::ClassLoader<controller_interface::ChainableControllerInterface>>
-    chainable_loader_;
+  pluginlib::ClassLoader<controller_interface::ControllerInterface> loader_;
+  pluginlib::ClassLoader<controller_interface::ChainableControllerInterface> chainable_loader_;
 
   /// Best effort (non real-time safe) callback group, e.g., service callbacks.
   /**

controller_manager/src/controller_manager.cpp

@@ -144,11 +144,8 @@ ControllerManager::ControllerManager(
   resource_manager_(std::make_unique<hardware_interface::ResourceManager>()),
   diagnostics_updater_(this),
   executor_(executor),
-  loader_(std::make_shared<pluginlib::ClassLoader<controller_interface::ControllerInterface>>(
-    kControllerInterfaceNamespace, kControllerInterfaceClassName)),
-  chainable_loader_(
-    std::make_shared<pluginlib::ClassLoader<controller_interface::ChainableControllerInterface>>(
-      kControllerInterfaceNamespace, kChainableControllerInterfaceClassName))
+  loader_(kControllerInterfaceNamespace, kControllerInterfaceClassName),
+  chainable_loader_(kControllerInterfaceNamespace, kChainableControllerInterfaceClassName)
 {
   if (!get_parameter("update_rate", update_rate_))
   {
@@ -178,11 +175,8 @@ ControllerManager::ControllerManager(
   resource_manager_(std::move(resource_manager)),
   diagnostics_updater_(this),
   executor_(executor),
-  loader_(std::make_shared<pluginlib::ClassLoader<controller_interface::ControllerInterface>>(
-    kControllerInterfaceNamespace, kControllerInterfaceClassName)),
-  chainable_loader_(
-    std::make_shared<pluginlib::ClassLoader<controller_interface::ChainableControllerInterface>>(
-      kControllerInterfaceNamespace, kChainableControllerInterfaceClassName))
+  loader_(kControllerInterfaceNamespace, kControllerInterfaceClassName),
+  chainable_loader_(kControllerInterfaceNamespace, kChainableControllerInterfaceClassName)
 {
   diagnostics_updater_.setHardwareID("ros2_control");
   diagnostics_updater_.add(
@@ -283,18 +277,18 @@ controller_interface::ControllerInterfaceBaseSharedPtr ControllerManager::load_c
   RCLCPP_INFO(get_logger(), "Loading controller '%s'", controller_name.c_str());
 
   if (
-    !loader_->isClassAvailable(controller_type) &&
-    !chainable_loader_->isClassAvailable(controller_type))
+    !loader_.isClassAvailable(controller_type) &&
+    !chainable_loader_.isClassAvailable(controller_type))
   {
     RCLCPP_ERROR(
       get_logger(), "Loader for controller '%s' (type '%s') not found.", controller_name.c_str(),
       controller_type.c_str());
     RCLCPP_INFO(get_logger(), "Available classes:");
-    for (const auto & available_class : loader_->getDeclaredClasses())
+    for (const auto & available_class : loader_.getDeclaredClasses())
     {
       RCLCPP_INFO(get_logger(), "  %s", available_class.c_str());
     }
-    for (const auto & available_class : chainable_loader_->getDeclaredClasses())
+    for (const auto & available_class : chainable_loader_.getDeclaredClasses())
     {
       RCLCPP_INFO(get_logger(), "  %s", available_class.c_str());
     }
@@ -304,13 +298,13 @@ controller_interface::ControllerInterfaceBaseSharedPtr ControllerManager::load_c
 
   controller_interface::ControllerInterfaceBaseSharedPtr controller;
 
-  if (loader_->isClassAvailable(controller_type))
+  if (loader_.isClassAvailable(controller_type))
   {
-    controller = loader_->createSharedInstance(controller_type);
+    controller = loader_.createSharedInstance(controller_type);
   }
-  if (chainable_loader_->isClassAvailable(controller_type))
+  if (chainable_loader_.isClassAvailable(controller_type))
   {
-    controller = chainable_loader_->createSharedInstance(controller_type);
+    controller = chainable_loader_.createSharedInstance(controller_type);
   }
 
   ControllerSpec controller_spec;
@@ -1371,14 +1365,14 @@ void ControllerManager::list_controller_types_srv_cb(
   std::lock_guard<std::mutex> guard(services_lock_);
   RCLCPP_DEBUG(get_logger(), "list types service locked");
 
-  auto cur_types = loader_->getDeclaredClasses();
+  auto cur_types = loader_.getDeclaredClasses();
   for (const auto & cur_type : cur_types)
   {
     response->types.push_back(cur_type);
     response->base_classes.push_back(kControllerInterfaceClassName);
     RCLCPP_DEBUG(get_logger(), "%s", cur_type.c_str());
   }
-  cur_types = chainable_loader_->getDeclaredClasses();
+  cur_types = chainable_loader_.getDeclaredClasses();
   for (const auto & cur_type : cur_types)
   {
     response->types.push_back(cur_type);
@@ -1490,11 +1484,10 @@ void ControllerManager::reload_controller_libraries_service_cb(
   assert(loaded_controllers.empty());
 
   // Force a reload on all the PluginLoaders (internally, this recreates the plugin loaders)
-  loader_ = std::make_shared<pluginlib::ClassLoader<controller_interface::ControllerInterface>>(
+  loader_ = pluginlib::ClassLoader<controller_interface::ControllerInterface>(
     kControllerInterfaceNamespace, kControllerInterfaceClassName);
-  chainable_loader_ =
-    std::make_shared<pluginlib::ClassLoader<controller_interface::ChainableControllerInterface>>(
-      kControllerInterfaceNamespace, kChainableControllerInterfaceClassName);
+  chainable_loader_ = pluginlib::ClassLoader<controller_interface::ChainableControllerInterface>(
+    kControllerInterfaceNamespace, kChainableControllerInterfaceClassName);
   RCLCPP_INFO(
     get_logger(), "Controller manager: reloaded controller libraries for '%s'",
     kControllerInterfaceNamespace);