From 0e2005e0fc784b7446ae576bc81c5de73eda738c Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Thu, 22 Sep 2022 18:44:54 +0200
Subject: [PATCH] Migrate parser plugin from boost to std shared_ptr

---
 urdf/src/model.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/urdf/src/model.cpp b/urdf/src/model.cpp
index ef9277f6..c30f4671 100644
--- a/urdf/src/model.cpp
+++ b/urdf/src/model.cpp
@@ -181,7 +181,7 @@ bool Model::initString(const std::string & xml_string)
       bool found = false;
       for (std::size_t i = 0 ; i < classes.size() ; ++i) {
         if (classes[i].find("urdf/ColladaURDFParser") != std::string::npos) {
-          boost::shared_ptr<urdf::URDFParser> instance = PARSER_PLUGIN_LOADER->createInstance(classes[i]);
+          auto instance = PARSER_PLUGIN_LOADER->createUniqueInstance(classes[i]);
           if (instance) {
             model = instance->parse(xml_string);
           }