From 5d0f04ceed26bf5aec65585c7d7390d00394325c Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tylerjw@gmail.com>
Date: Mon, 27 Jun 2022 23:05:17 -0600
Subject: [PATCH] API changes in class_loader

Signed-off-by: Tyler Weaver <tylerjw@gmail.com>
---
 .../include/rclcpp_components/component_manager.hpp           | 2 +-
 rclcpp_components/src/component_manager.cpp                   | 2 +-
 rclcpp_components/src/node_main.cpp.in                        | 4 ++--
 3 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/rclcpp_components/include/rclcpp_components/component_manager.hpp b/rclcpp_components/include/rclcpp_components/component_manager.hpp
index 6238284278..62c75ec3be 100644
--- a/rclcpp_components/include/rclcpp_components/component_manager.hpp
+++ b/rclcpp_components/include/rclcpp_components/component_manager.hpp
@@ -260,7 +260,7 @@ class ComponentManager : public rclcpp::Node
   std::weak_ptr<rclcpp::Executor> executor_;
 
   uint64_t unique_id_ {1};
-  std::map<std::string, std::unique_ptr<class_loader::ClassLoader>> loaders_;
+  std::map<std::string, std::shared_ptr<class_loader::ClassLoader>> loaders_;
   std::map<uint64_t, rclcpp_components::NodeInstanceWrapper> node_wrappers_;
 
   rclcpp::Service<LoadNode>::SharedPtr loadNode_srv_;
diff --git a/rclcpp_components/src/component_manager.cpp b/rclcpp_components/src/component_manager.cpp
index 036350a64f..c6dbbf2417 100644
--- a/rclcpp_components/src/component_manager.cpp
+++ b/rclcpp_components/src/component_manager.cpp
@@ -113,7 +113,7 @@ ComponentManager::create_component_factory(const ComponentResource & resource)
   if (loaders_.find(library_path) == loaders_.end()) {
     RCLCPP_INFO(get_logger(), "Load Library: %s", library_path.c_str());
     try {
-      loaders_[library_path] = std::make_unique<class_loader::ClassLoader>(library_path);
+      loaders_[library_path] = class_loader::ClassLoader::Make(library_path);
     } catch (const std::exception & ex) {
       throw ComponentManagerException("Failed to load library: " + std::string(ex.what()));
     } catch (...) {
diff --git a/rclcpp_components/src/node_main.cpp.in b/rclcpp_components/src/node_main.cpp.in
index 0ca5eb8c61..98a6941133 100644
--- a/rclcpp_components/src/node_main.cpp.in
+++ b/rclcpp_components/src/node_main.cpp.in
@@ -30,14 +30,14 @@ int main(int argc, char * argv[])
   rclcpp::executors::@executor@ exec;
   rclcpp::NodeOptions options;
   options.arguments(args);
-  std::vector<class_loader::ClassLoader * > loaders;
+  std::vector<std::shared_ptr<class_loader::ClassLoader>> loaders;
   std::vector<rclcpp_components::NodeInstanceWrapper> node_wrappers;
 
   std::string library_name = "@library_name@";
   std::string class_name = "rclcpp_components::NodeFactoryTemplate<@component@>";
 
   RCLCPP_DEBUG(logger, "Load library %s", library_name.c_str());
-  auto loader = new class_loader::ClassLoader(library_name);
+  auto loader = class_loader::ClassLoader::Make(library_name);
   auto classes = loader->getAvailableClasses<rclcpp_components::NodeFactory>();
   for (const auto & clazz : classes) {
     std::string name = clazz.c_str();