Worked on hardening the MoveIt planning subsystem in the moveit/moveit2 repository, focusing on resource management and system reliability. Addressed a resource cleanup issue by introducing virtual destructors to the base classes of planning adapters, ensuring proper memory management and enabling graceful shutdown of the planning system. Migrated logging and resource management to use rclcpp::Node::make_shared, which improved memory safety and lifecycle robustness. Enhanced the shutdown behavior of the move_group planning component, reducing the risk of hangs and improving overall reliability. Utilized C++ and applied principles of resource management and software design to deliver a more robust planning workflow.