From 16288457b6787f30df3ce436d1114546dece6cdd Mon Sep 17 00:00:00 2001
From: MARIANOCEREDA <gmarianocereda@gmail.com>
Date: Thu, 21 May 2026 20:30:40 +0000
Subject: [PATCH] Replace raw Observer* by a shared ptr as part of world.

---
 .../include/moveit/collision_detection/world.hpp      |  8 ++++----
 moveit_core/collision_detection/src/world.cpp         | 11 +++++------
 2 files changed, 9 insertions(+), 10 deletions(-)

diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/world.hpp b/moveit_core/collision_detection/include/moveit/collision_detection/world.hpp
index a3f41643b3..8e31a18885 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/world.hpp
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/world.hpp
@@ -289,15 +289,15 @@ class World
   class ObserverHandle
   {
   public:
-    ObserverHandle() : observer_(nullptr)
+    ObserverHandle() : observer_()
     {
     }
 
   private:
-    ObserverHandle(const Observer* o) : observer_(o)
+    ObserverHandle(const std::shared_ptr<Observer>& o) : observer_(o)
     {
     }
-    const Observer* observer_;
+    std::weak_ptr<Observer> observer_;
     friend class World;
   };
 
@@ -349,6 +349,6 @@ class World
   };
 
   /// All registered observers of this world representation
-  std::vector<Observer*> observers_;
+  std::vector<std::shared_ptr<Observer>> observers_;
 };
 }  // namespace collision_detection
diff --git a/moveit_core/collision_detection/src/world.cpp b/moveit_core/collision_detection/src/world.cpp
index b2262f93d5..1eb672ea4f 100644
--- a/moveit_core/collision_detection/src/world.cpp
+++ b/moveit_core/collision_detection/src/world.cpp
@@ -402,7 +402,7 @@ void World::updateGlobalPosesInternal(ObjectPtr& obj, bool update_shape_poses, b
 
 World::ObserverHandle World::addObserver(const ObserverCallbackFn& callback)
 {
-  const auto o = new Observer(callback);
+  const auto o = std::make_shared<Observer>(callback);
   observers_.push_back(o);
   return ObserverHandle(o);
 }
@@ -411,9 +411,8 @@ void World::removeObserver(ObserverHandle observer_handle)
 {
   for (auto obs = observers_.begin(); obs != observers_.end(); ++obs)
   {
-    if (*obs == observer_handle.observer_)
+    if (obs->get() == observer_handle.observer_.lock().get())
     {
-      delete *obs;
       observers_.erase(obs);
       return;
     }
@@ -428,15 +427,15 @@ void World::notifyAll(Action action)
 
 void World::notify(const ObjectConstPtr& obj, Action action)
 {
-  for (Observer* observer : observers_)
+  for (const auto& observer : observers_)
     observer->callback_(obj, action);
 }
 
 void World::notifyObserverAllObjects(const ObserverHandle observer_handle, Action action) const
 {
-  for (auto observer : observers_)
+  for (const auto& observer : observers_)
   {
-    if (observer == observer_handle.observer_)
+    if (observer.get() == observer_handle.observer_.lock().get())
     {
       // call the callback for each object
       for (const auto& object : objects_)