From 239f437eeebfb508dbb9f2b898c55e7e8ef29559 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Wed, 26 Sep 2018 15:03:22 +0200
Subject: [PATCH] Clean up PoolStorage when stopping controller
---
CMakeLists.txt | 4 +++-
src/sot_loader_basic.cpp | 4 ++++
2 files changed, 7 insertions(+), 1 deletion(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index e2e1a9f..db75b43 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -178,7 +178,9 @@ ENDIF(BUILD_PYTHON_INTERFACE)
# Stand alone embedded intepreter with a robot controller.
add_executable(geometric_simu src/geometric_simu.cpp src/sot_loader.cpp src/sot_loader_basic.cpp)
-pkg_config_use_dependency(geometric_simu roscpp tf)
+pkg_config_use_dependency(geometric_simu tf)
+pkg_config_use_dependency(geometric_simu roscpp)
+pkg_config_use_dependency(geometric_simu dynamic-graph)
target_link_libraries(geometric_simu ros_bridge tf ${Boost_LIBRARIES} ${CMAKE_DL_LIBS})
# Sot loader library
diff --git a/src/sot_loader_basic.cpp b/src/sot_loader_basic.cpp
index e30b940..d2dd6f8 100644
--- a/src/sot_loader_basic.cpp
+++ b/src/sot_loader_basic.cpp
@@ -23,6 +23,8 @@
#include <dynamic_graph_bridge/sot_loader.hh>
#include "dynamic_graph_bridge/ros_init.hh"
+#include <dynamic-graph/pool.h>
+
// POSIX.1-2001
#include <dlfcn.h>
@@ -211,6 +213,8 @@ void SotLoaderBasic::Initialization()
void SotLoaderBasic::CleanUp()
{
+ dynamicgraph::PoolStorage::destroy();
+
/// Uncount the number of access to this library.
dlclose(sotRobotControllerLibrary_);
}
--
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