{"action":"created","comment":{"url":"https://api.github.com/repos/ros-planning/moveit/pulls/comments/241573870","pull_request_review_id":184884597,"id":241573870,"node_id":"MDI0OlB1bGxSZXF1ZXN0UmV2aWV3Q29tbWVudDI0MTU3Mzg3MA==","diff_hunk":"@@ -0,0 +1,42 @@\n+<?xml 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I would prefer the plugins to be in a separate package, so the plugins would be more standalone which would make developing and adding new plugins easier and faster.\r\n\r\nfor example, if the `plugins` are part of the msa package, we would use relative paths to some headers in the package, but if we put the plugins in a separate package we wont do that, hence users wont have to add the plugin to the msa package to work, the plugins can then be exported from any package just by depending on the msa package for the headers instead of having to add to it.","created_at":"2018-12-13T21:49:38Z","updated_at":"2018-12-13T21:49:38Z","html_url":"https://github.com/ros-planning/moveit/pull/1243#discussion_r241573870","pull_request_url":"https://api.github.com/repos/ros-planning/moveit/pulls/1243","author_association":"CONTRIBUTOR","_links":{"self":{"href":"https://api.github.com/repos/ros-planning/moveit/pulls/comments/241573870"},"html":{"href":"https://github.com/ros-planning/moveit/pull/1243#discussion_r241573870"},"pull_request":{"href":"https://api.github.com/repos/ros-planning/moveit/pulls/1243"}},"in_reply_to_id":240411116},"pull_request":{"url":"https://api.github.com/repos/ros-planning/moveit/pulls/1243","id":235804493,"node_id":"MDExOlB1bGxSZXF1ZXN0MjM1ODA0NDkz","html_url":"https://github.com/ros-planning/moveit/pull/1243","diff_url":"https://github.com/ros-planning/moveit/pull/1243.diff","patch_url":"https://github.com/ros-planning/moveit/pull/1243.patch","issue_url":"https://api.github.com/repos/ros-planning/moveit/issues/1243","number":1243,"state":"open","locked":false,"title":"WIP: Plugin based SA","user":{"login":"MohmadAyman","id":10261903,"node_id":"MDQ6VXNlcjEwMjYxOTAz","avatar_url":"https://avatars1.githubusercontent.com/u/10261903?v=4","gravatar_id":"","url":"https://api.github.com/users/MohmadAyman","html_url":"https://github.com/MohmadAyman","followers_url":"https://api.github.com/users/MohmadAyman/followers","following_url":"https://api.github.com/users/MohmadAyman/following{/other_user}","gists_url":"https://api.github.com/users/MohmadAyman/gists{/gist_id}","starred_url":"https://api.github.com/users/MohmadAyman/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/MohmadAyman/subscriptions","organizations_url":"https://api.github.com/users/MohmadAyman/orgs","repos_url":"https://api.github.com/users/MohmadAyman/repos","events_url":"https://api.github.com/users/MohmadAyman/events{/privacy}","received_events_url":"https://api.github.com/users/MohmadAyman/received_events","type":"User","site_admin":false},"body":"### Description\r\n\r\n- Setup screen widget class is the base for the plugins.\r\n\r\n- Each widget is turned to a plugin and is now in `moveit_setup_assistanat_plugins`\r\n\r\n- Plugins are loaded in the `SetupAsiistantWidget`.\r\n\r\n- Numbers are added to the Widgets names to enforce the order in the navigation menu.\r\n\r\nThere is an issue with the PR as it is right now, when the setup assistant is closed a segmentation fault happens, the gdb output is as this\r\n```\r\nThread 1 (Thread 0x7ffff7f5a840 (LWP 6941)):\r\n#0  0x00007ffff6aab288 in QObjectPrivate::deleteChildren() () from /usr/lib/x86_64-linux-gnu/libQt5Core.so.5\r\n#1  0x00007ffff7685708 in QWidget::~QWidget() () from /usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5\r\n#2  0x00007ffff76858d9 in QWidget::~QWidget() () from /usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5\r\n#3  0x00007ffff6aab28b in QObjectPrivate::deleteChildren() () from /usr/lib/x86_64-linux-gnu/libQt5Core.so.5\r\n#4  0x00007ffff7685708 in QWidget::~QWidget() () from /usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5\r\n#5  0x00007ffff77e5879 in QSplitter::~QSplitter() () from /usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5\r\n#6  0x00007ffff6aab28b in QObjectPrivate::deleteChildren() () from /usr/lib/x86_64-linux-gnu/libQt5Core.so.5\r\n#7  0x00007ffff7685708 in QWidget::~QWidget() () from /usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5\r\n#8  0x000000000040986e in main ()\r\n```\r\nI tried not loading all the plugins to find the issue and found 5 plugins when loaded cause the issue, after shutting down the pc the plugins which were not causing a problem now are causing it too.\r\nThe plugins still consider the `saw` to be their parent.\r\n\r\nThis should be the only run time issue with the code so any help on this would be very helpful.\r\n\r\n@davetcoleman \r\n\r\n### Checklist\r\n- [ ] **Required by CI**: Code is auto formatted using [clang-format](http://moveit.ros.org/documentation/contributing/code)\r\n- [ ] Extended the tutorials / documentation, if necessary [reference](http://moveit.ros.org/documentation/contributing/)\r\n- [x] Decide if this should be cherry-picked to other current ROS branches\r\n\r\n[//]: # \"You can expect a response from a maintainer within 7 days. If you haven't heard anything by then, feel free to ping the thread. Thank you!\"\r\n","created_at":"2018-12-04T13:16:05Z","updated_at":"2018-12-13T21:49:38Z","closed_at":null,"merged_at":null,"merge_commit_sha":"15e90a6cd60e3e6da61c85302d48c61a59cd6dc8","assignee":null,"assignees":[],"requested_reviewers":[],"requested_teams":[],"labels":[],"milestone":null,"commits_url":"https://api.github.com/repos/ros-planning/moveit/pulls/1243/commits","review_comments_url":"https://api.github.com/repos/ros-planning/moveit/pulls/1243/comments","review_comment_url":"https://api.github.com/repos/ros-planning/moveit/pulls/comments{/number}","comments_url":"https://api.github.com/repos/ros-planning/moveit/issues/1243/comments","statuses_url":"https://api.github.com/repos/ros-planning/moveit/statuses/76e9451178e93bd711aab388f2fd2be14a4f8695","head":{"label":"MohmadAyman:plugin_based_sa","ref":"plugin_based_sa","sha":"76e9451178e93bd711aab388f2fd2be14a4f8695","user":{"login":"MohmadAyman","id":10261903,"node_id":"MDQ6VXNlcjEwMjYxOTAz","avatar_url":"https://avatars1.githubusercontent.com/u/10261903?v=4","gravatar_id":"","url":"https://api.github.com/users/MohmadAyman","html_url":"https://github.com/MohmadAyman","followers_url":"https://api.github.com/users/MohmadAyman/followers","following_url":"https://api.github.com/users/MohmadAyman/following{/other_user}","gists_url":"https://api.github.com/users/MohmadAyman/gists{/gist_id}","starred_url":"https://api.github.com/users/MohmadAyman/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/MohmadAyman/subscriptions","organizations_url":"https://api.github.com/users/MohmadAyman/orgs","repos_url":"https://api.github.com/users/MohmadAyman/repos","events_url":"https://api.github.com/users/MohmadAyman/events{/privacy}","received_events_url":"https://api.github.com/users/MohmadAyman/received_events","type":"User","site_admin":false},"repo":{"id":124630317,"node_id":"MDEwOlJlcG9zaXRvcnkxMjQ2MzAzMTc=","name":"moveit","full_name":"MohmadAyman/moveit","private":false,"owner":{"login":"MohmadAyman","id":10261903,"node_id":"MDQ6VXNlcjEwMjYxOTAz","avatar_url":"https://avatars1.githubusercontent.com/u/10261903?v=4","gravatar_id":"","url":"https://api.github.com/users/MohmadAyman","html_url":"https://github.com/MohmadAyman","followers_url":"https://api.github.com/users/MohmadAyman/followers","following_url":"https://api.github.com/users/MohmadAyman/following{/other_user}","gists_url":"https://api.github.com/users/MohmadAyman/gists{/gist_id}","starred_url":"https://api.github.com/users/MohmadAyman/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/MohmadAyman/subscriptions","organizations_url":"https://api.github.com/users/MohmadAyman/orgs","repos_url":"https://api.github.com/users/MohmadAyman/repos","events_url":"https://api.github.com/users/MohmadAyman/events{/privacy}","received_events_url":"https://api.github.com/users/MohmadAyman/received_events","type":"User","site_admin":false},"html_url":"https://github.com/MohmadAyman/moveit","description":"The 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