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use unique ptr and remove unuseful container #2013

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Sep 19, 2022
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use unique ptr and remove unuseful container #2013

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5 changes: 1 addition & 4 deletions rclcpp_components/src/node_main.cpp.in
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Original file line number Diff line number Diff line change
Expand Up @@ -30,14 +30,13 @@ int main(int argc, char * argv[])
rclcpp::executors::@executor@ exec;
rclcpp::NodeOptions options;
options.arguments(args);
std::vector<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 = std::make_unique<class_loader::ClassLoader>(library_name);
auto classes = loader->getAvailableClasses<rclcpp_components::NodeFactory>();
for (const auto & clazz : classes) {
std::string name = clazz.c_str();
Expand All @@ -59,8 +58,6 @@ int main(int argc, char * argv[])
exec.add_node(node);
}
}
loaders.push_back(loader);


exec.spin();

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