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captain-yoshi / BehaviorTree.MTC

Use MoveIt Task Constructor with BehaviorTree.CPP
MIT License
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InitializeMTCTask container get's deleted twice #23

Open captain-yoshi opened 2 weeks ago

captain-yoshi commented 2 weeks ago

The task/container is deleted twice

  auto task = std::make_shared<moveit::task_constructor::Task>();
  task->loadRobotModel();

  //Convert raw pointer to share pointer
  auto container = std::shared_ptr<moveit::task_constructor::ContainerBase>(task->stages());

We should refactor the move_mtc_xxx nodes into a templated one where the user can move stages to container and task. Use only one cpp file. Well one header file because it will be templated!