moved loading ros packages to ros node

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");