Creating MoveIt Plugins tutorial: fix namespace collision

[JeroenDM]

Description

When running the lerp_example.launch, I get the following warning:

ros.rosconsole_bridge.class_loader.impl: SEVERE WARNING!!! A namespace collision has occured with plugin factory for class lerp_interface::LERPPlannerManager. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open.

I removed the linking of the example with the lerp plugin library, and removed lerp_planner_manager.cpp from the main library as it was compiled two times.

In addition the example contained an unused include statement.

#include <lerp_interface/lerp_planning_context.h>

I think these fixes also make it easier to understand the idea behind plugins. Not having to link it at compile time is the whole point of the plugin infrastructure, as far as I understand it at least.

Checklist

• Required by CI: Code is auto formatted using clang-format
• While waiting for someone to review your request, please consider reviewing another open pull request to support the maintainers

[welcome]

Thanks for helping in improving MoveIt and open source robotics!

[JeroenDM]

Also, I'm sorry for the ugly fix commit. I can fix it and force push to clean it up.
Edit: done.

[rhaschke]

Makes sense to me. Thanks for the cleanup!

[ommmid]

Right, planning_context does not need to be included in the example. Thanks for catching that.

[welcome]

Congrats on getting your first MoveIt pull request merged and improving open source robotics!

[rhaschke]

Just noticed that this was in the plugins example. What a shame!