diff --git a/src/problem/problem.cpp b/src/problem/problem.cpp index a3981d2f9e1a8e2b08a25f290ee2e7cf60ffd6be..1e5c88a2db6cf68a2032c8be1b50dbbe3c2206d9 100644 --- a/src/problem/problem.cpp +++ b/src/problem/problem.cpp @@ -147,31 +147,6 @@ ProblemPtr Problem::autoSetup(ParamsServer &_server) loaders.push_back(l); } - // load Packages for subscribers and publishers - std::string packages_path; - try - { - packages_path = _server.getParam<std::string>("packages_path"); - } - catch (MissingValueException& e) { - WOLF_WARN(e.what()); - WOLF_WARN("Support for subscribers disabled..."); - } - for (auto subscriber_name : _server.getParam<std::vector<std::string>>("packages_subscriber")) { - std::string subscriber = packages_path + "/libsubscriber_" + subscriber_name + lib_extension; - WOLF_TRACE("Loading subscriber " + subscriber_name + " via " + subscriber); - auto l = std::make_shared<LoaderRaw>(subscriber); - l->load(); - loaders.push_back(l); - } - for (auto publisher_name : _server.getParam<std::vector<std::string>>("packages_publisher")) { - std::string publisher = packages_path + "/libpublisher_" + publisher_name + lib_extension; - WOLF_TRACE("Loading publisher " + publisher_name + " via " + publisher); - auto l = std::make_shared<LoaderRaw>(publisher); - l->load(); - loaders.push_back(l); - } - // load raw libs std::vector<std::string> raw_libs; try @@ -219,14 +194,7 @@ ProblemPtr Problem::autoSetup(ParamsServer &_server) map_plugin = "core"; } WOLF_TRACE("Map Type: ", map_type, " in plugin ", map_plugin); - if (map_plugin != "core" and map_plugin != "wolf") - { - std::string plugin = plugins_path + "libwolf" + map_plugin + lib_extension; - WOLF_TRACE("Loading plugin " + plugin); - auto l = std::make_shared<LoaderRaw>(plugin); - l->load(); - loaders.push_back(l); - } + auto map = AutoConfFactoryMap::create(map_type, _server); map->setProblem(problem); problem->setMap(map); @@ -235,18 +203,7 @@ ProblemPtr Problem::autoSetup(ParamsServer &_server) std::string tree_manager_type = _server.getParam<std::string>("problem/tree_manager/type"); WOLF_TRACE("Tree Manager Type: ", tree_manager_type); if (tree_manager_type != "None" and tree_manager_type != "none") - { - std::string tm_plugin = _server.getParam<std::string>("problem/tree_manager/plugin"); - if (tm_plugin != "core" and tm_plugin != "wolf") - { - std::string plugin = plugins_path + "libwolf" + tm_plugin + lib_extension; - WOLF_TRACE("Loading plugin " + plugin); - auto l = std::make_shared<LoaderRaw>(plugin); - l->load(); - loaders.push_back(l); - } problem->setTreeManager(AutoConfFactoryTreeManager::create(tree_manager_type, "tree manager", _server)); - } // Set problem prior -- first keyframe std::string prior_mode = _server.getParam<std::string>("problem/prior/mode");