From a51c8f5c69e83d267e330792f996a5822c276a43 Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tylerjw@gmail.com>
Date: Mon, 27 Jun 2022 23:00:40 -0600
Subject: [PATCH] API changes in class_loader

Signed-off-by: Tyler Weaver <tylerjw@gmail.com>
---
 composition/src/dlopen_composition.cpp   | 4 ++--
 composition/src/linktime_composition.cpp | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/composition/src/dlopen_composition.cpp b/composition/src/dlopen_composition.cpp
index 6f5a5509e..a66dcb9d3 100644
--- a/composition/src/dlopen_composition.cpp
+++ b/composition/src/dlopen_composition.cpp
@@ -35,7 +35,7 @@ int main(int argc, char * argv[])
   rclcpp::Logger logger = rclcpp::get_logger(DLOPEN_COMPOSITION_LOGGER_NAME);
   rclcpp::executors::SingleThreadedExecutor exec;
   rclcpp::NodeOptions options;
-  std::vector<class_loader::ClassLoader *> loaders;
+  std::vector<std::shared_ptr<class_loader::ClassLoader>> loaders;
   std::vector<rclcpp_components::NodeInstanceWrapper> node_wrappers;
 
   std::vector<std::string> libraries;
@@ -44,7 +44,7 @@ int main(int argc, char * argv[])
   }
   for (auto library : libraries) {
     RCLCPP_INFO(logger, "Load library %s", library.c_str());
-    auto loader = new class_loader::ClassLoader(library);
+    auto loader = class_loader::ClassLoader::Make(library);
     auto classes = loader->getAvailableClasses<rclcpp_components::NodeFactory>();
     for (auto clazz : classes) {
       RCLCPP_INFO(logger, "Instantiate class %s", clazz.c_str());
diff --git a/composition/src/linktime_composition.cpp b/composition/src/linktime_composition.cpp
index 95b212546..70ab9c6dc 100644
--- a/composition/src/linktime_composition.cpp
+++ b/composition/src/linktime_composition.cpp
@@ -33,7 +33,7 @@ int main(int argc, char * argv[])
   rclcpp::Logger logger = rclcpp::get_logger(LINKTIME_COMPOSITION_LOGGER_NAME);
   rclcpp::executors::SingleThreadedExecutor exec;
   rclcpp::NodeOptions options;
-  std::vector<std::unique_ptr<class_loader::ClassLoader>> loaders;
+  std::vector<std::shared_ptr<class_loader::ClassLoader>> loaders;
   std::vector<rclcpp_components::NodeInstanceWrapper> node_wrappers;
 
   std::vector<std::string> libraries = {
@@ -43,7 +43,7 @@ int main(int argc, char * argv[])
   };
   for (auto library : libraries) {
     RCLCPP_INFO(logger, "Load library %s", library.c_str());
-    auto loader = std::make_unique<class_loader::ClassLoader>(library);
+    auto loader = class_loader::ClassLoader::Make(library);
     auto classes = loader->getAvailableClasses<rclcpp_components::NodeFactory>();
     for (auto clazz : classes) {
       RCLCPP_INFO(logger, "Instantiate class %s", clazz.c_str());