Cleanup use of the GazeboYarpPlugins::Handler::getHandler() object to actually remove a device once is deleted #618
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…device is returned to robotinterface The handle is not the owner of the YARP device object, that instead are owned (and eventually destroyed before the handle) by the plugin. It does not make sense to have a usage count that does not reflect it the device is actually valid or not.
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This PR is the first step toward fixing issue 582 with the solution described in #582 (comment) . |
traversaro
requested review from
GrmanRodriguez,
ste93,
randaz81 and
Nicogene
and removed request for
GrmanRodriguez
In the gazebo_yarp_robotinterface there was a setRobot call without a corresponding removeRobot call. As this call was actually not used, it was simply removed.
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Nicogene
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Apr 4, 2022
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The changes are the following:
gazebo_yarp_robotinterfaceto not increase device use counter in singleton when device is returned to robotinterface. The rationale is that the handler is not the owner of the YARP device object, that instead are owned (and eventually destroyed before the handler of thegazebo_yarp_robotinterfaceplugin instance) by the model/sensor plugin that created it.It does not make sense to have a usage count that does not reflect it the device is actually valid or not. By doing so, we make sure that the device is actually removed when the device is about to be destroyed.
gazebo_yarp_robotinterfacethat incremented the usage counter of the robot in the singleton, without a corresponding removeRobot.setDevicein GazeboYarpPlugins::Handler::getHandler() to register a device also callremoveDevice(with the correct argument) once the device is not available anymore. SeveralsetDevicewere added recently without a correspondingremoveDevice.