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Fix severe warning from class loader in servo #3577

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Merged
merged 3 commits into from
Oct 13, 2025
Merged

Fix severe warning from class loader in servo #3577

merged 3 commits into from
Oct 13, 2025

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bijoua29
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Description

To fix "SEVERE WARNING" from class loader in moveit_servo, created the class loader as a member variable instead of creating it on the stack.

This fixes the following error:

[servo_node-20] Warning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded.

AndyZe
AndyZe approved these changes Sep 14, 2025
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moveit_ros/moveit_servo/include/moveit_servo/servo.hpp
Comment on lines +232 to +233
// Plugin loader
std::unique_ptr<pluginlib::ClassLoader<online_signal_smoothing::SmoothingBaseClass>> smoother_loader_;
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Hi Bijou, long time no see. Thanks for fixing this, it's been annoying for too long.

I don't think it needs to be a unique_ptr? But I'll still approve the PR either way.

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

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Hi Bijou, long time no see. Thanks for fixing this, it's been annoying for too long.

I don't think it needs to be a unique_ptr? But I'll still approve the PR either way.

Hi @AndyZe, Sorry didn't respond earlier. Good to see you too

@AndyZe AndyZe added backport-humble Mergify label that triggers a PR backport to Humble backport-jazzy Mergify label that triggers a PR backport to Jazzy labels Sep 14, 2025
AndyZe
AndyZe approved these changes Sep 14, 2025
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AndyZe commented Sep 14, 2025

I pushed a small commit to satisfy the linter

@AndyZe
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AndyZe commented Sep 14, 2025

Blocked pending #3567 I think

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codecov bot commented Sep 14, 2025 •
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Codecov Report

❌ Patch coverage is 0% with 2 lines in your changes missing coverage. Please review.
✅ Project coverage is 46.19%. Comparing base (65aa94c) to head (2075ef2).
⚠️ Report is 1 commits behind head on main.

Files with missing lines Patch % Lines
moveit_ros/moveit_servo/src/servo.cpp 0.00% 2 Missing ⚠️
Additional details and impacted files 
@@            Coverage Diff             @@
##             main    #3577      +/-   ##
==========================================
+ Coverage   46.19%   46.19%   +0.01%     
==========================================
  Files         720      720              
  Lines       62744    62742       -2     
  Branches     7595     7594       -1     
==========================================
+ Hits        28978    28980       +2     
+ Misses      33598    33596       -2     
+ Partials      168      166       -2

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@nbbrooks
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Force merging this since Rolling CI was fixed and this is now passing.

The tutorial failure is unrelated and should be resolved by moveit/moveit2_tutorials#1071

@nbbrooks nbbrooks merged commit 92654dd into moveit:main Oct 13, 2025
9 of 10 checks passed
@github-project-automation github-project-automation bot moved this to ✅ Done in MoveIt Oct 13, 2025
mergify bot pushed a commit that referenced this pull request Oct 13, 2025
@bijoua29 @mergify
Fix severe warning from class loader in servo (#3577)
d92fe0e 
* Add class loader member variable instead of  creating on stack

* Fix formatting to satisfy clang

---------

Co-authored-by: AndyZe <andyz@utexas.edu>
Co-authored-by: Nathan Brooks <nathanbrooks@picknik.ai>
(cherry picked from commit 92654dd)

# Conflicts:
#	moveit_ros/moveit_servo/include/moveit_servo/servo.hpp
#	moveit_ros/moveit_servo/src/servo.cpp
@mergify mergify bot mentioned this pull request Oct 13, 2025
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mergify bot pushed a commit that referenced this pull request Oct 13, 2025
@bijoua29 @AndyZe
@nbbrooks @mergify
Fix severe warning from class loader in servo (#3577)
64fe3a5 
* Add class loader member variable instead of  creating on stack

* Fix formatting to satisfy clang

---------

Co-authored-by: AndyZe <andyz@utexas.edu>
Co-authored-by: Nathan Brooks <nathanbrooks@picknik.ai>
(cherry picked from commit 92654dd)
@mergify mergify bot mentioned this pull request Oct 13, 2025
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@bijoua29
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Force merging this since Rolling CI was fixed and this is now passing.

The tutorial failure is unrelated and should be resolved by moveit/moveit2_tutorials#1071

@nbbrooks Is it possible to get this commit into the next Kilted sync. Would appreciate that.

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@bijoua29 @AndyZe @nbbrooks