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API changes in class_loader #1958

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API changes in class_loader #1958

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2 changes: 1 addition & 1 deletion rclcpp_components/include/rclcpp_components/component_manager.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -260,7 +260,7 @@ class ComponentManager : public rclcpp::Node
std::weak_ptr<rclcpp::Executor> executor_;

uint64_t unique_id_ {1};
std::map<std::string, std::unique_ptr<class_loader::ClassLoader>> loaders_;
std::map<std::string, std::shared_ptr<class_loader::ClassLoader>> loaders_;
std::map<uint64_t, rclcpp_components::NodeInstanceWrapper> node_wrappers_;

rclcpp::Service<LoadNode>::SharedPtr loadNode_srv_;
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2 changes: 1 addition & 1 deletion rclcpp_components/src/component_manager.cpp
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Expand Up @@ -113,7 +113,7 @@ ComponentManager::create_component_factory(const ComponentResource & resource)
if (loaders_.find(library_path) == loaders_.end()) {
RCLCPP_INFO(get_logger(), "Load Library: %s", library_path.c_str());
try {
loaders_[library_path] = std::make_unique<class_loader::ClassLoader>(library_path);
loaders_[library_path] = class_loader::ClassLoader::Make(library_path);
} catch (const std::exception & ex) {
throw ComponentManagerException("Failed to load library: " + std::string(ex.what()));
} catch (...) {
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4 changes: 2 additions & 2 deletions rclcpp_components/src/node_main.cpp.in
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Expand Up @@ -30,14 +30,14 @@ int main(int argc, char * argv[])
rclcpp::executors::@executor@ exec;
rclcpp::NodeOptions options;
options.arguments(args);
std::vector<class_loader::ClassLoader * > loaders;
std::vector<std::shared_ptr<class_loader::ClassLoader>> loaders;
std::vector<rclcpp_components::NodeInstanceWrapper> node_wrappers;

std::string library_name = "@library_name@";
std::string class_name = "rclcpp_components::NodeFactoryTemplate<@component@>";

RCLCPP_DEBUG(logger, "Load library %s", library_name.c_str());
auto loader = new class_loader::ClassLoader(library_name);
auto loader = class_loader::ClassLoader::Make(library_name);
auto classes = loader->getAvailableClasses<rclcpp_components::NodeFactory>();
for (const auto & clazz : classes) {
std::string name = clazz.c_str();
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