On the way to fixing #1919 #1920
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- Removed unnecessary dynamic_pointer_cast<>'s
vooon
reviewed
Nov 3, 2023
| @@ -110,7 +101,7 @@ class Plugin : public std::enable_shared_from_this<Plugin> | |||
| } | |||
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| protected: | |||
| UASPtr uas; // uas back link | |||
| std::weak_ptr<UAS> uas_; // uas back link | |||
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shared_ptr is not good here, because it creates cyclic references. The UAS node holds shared_ptrs to plugin nodes. In turn, each plugin node holds a shared_ptr to the UAS node. The result is that the UAS node and the plugin nodes never get destroyed.
You can check this by loading the mavros::uas::UAS component into a component container and then unloading it. The nodes will still be there. And then load it again, every node will get duplicated.
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