Your future hasn't been written yet, no one's has. Your future is wha…

…tever you make it, so make it a good one.
moveit · Apr 14, 2022 · 515627a · 515627a
1 parent ca16e96
commit 515627a
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Showing 2 changed files with 5 additions and 11 deletions.
diff --git a/...hybrid_planning_manager/hybrid_planning_manager_component/src/hybrid_planning_manager.cpp b/...hybrid_planning_manager/hybrid_planning_manager_component/src/hybrid_planning_manager.cpp
@@ -212,8 +212,7 @@ bool HybridPlanningManager::sendGlobalPlannerAction()
 
   // Add goal response callback
   global_goal_options.goal_response_callback =
-      [this](std::shared_future<rclcpp_action::ClientGoalHandle<moveit_msgs::action::GlobalPlanner>::SharedPtr> future) {
-        auto const& goal_handle = future.get();
+      [this](rclcpp_action::ClientGoalHandle<moveit_msgs::action::GlobalPlanner>::SharedPtr goal_handle) {
         auto planning_progress = std::make_shared<moveit_msgs::action::HybridPlanner::Feedback>();
         auto& feedback = planning_progress->feedback;
         if (!goal_handle)
@@ -283,8 +282,7 @@ bool HybridPlanningManager::sendLocalPlannerAction()
 
   // Add goal response callback
   local_goal_options.goal_response_callback =
-      [this](std::shared_future<rclcpp_action::ClientGoalHandle<moveit_msgs::action::LocalPlanner>::SharedPtr> future) {
-        auto const& goal_handle = future.get();
+      [this](rclcpp_action::ClientGoalHandle<moveit_msgs::action::LocalPlanner>::SharedPtr goal_handle) {
         auto planning_progress = std::make_shared<moveit_msgs::action::HybridPlanner::Feedback>();
         auto& feedback = planning_progress->feedback;
         if (!goal_handle)

diff --git a/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp b/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
@@ -762,8 +762,7 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
     auto send_goal_opts = rclcpp_action::Client<moveit_msgs::action::MoveGroup>::SendGoalOptions();
 
     send_goal_opts.goal_response_callback =
-        [&](std::shared_future<rclcpp_action::ClientGoalHandle<moveit_msgs::action::MoveGroup>::SharedPtr> future) {
-          const auto& goal_handle = future.get();
+        [&](rclcpp_action::ClientGoalHandle<moveit_msgs::action::MoveGroup>::SharedPtr goal_handle) {
           if (!goal_handle)
           {
             done = true;
@@ -841,8 +840,7 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
     auto send_goal_opts = rclcpp_action::Client<moveit_msgs::action::MoveGroup>::SendGoalOptions();
 
     send_goal_opts.goal_response_callback =
-        [&](std::shared_future<rclcpp_action::ClientGoalHandle<moveit_msgs::action::MoveGroup>::SharedPtr> future) {
-          const auto& goal_handle = future.get();
+        [&](rclcpp_action::ClientGoalHandle<moveit_msgs::action::MoveGroup>::SharedPtr goal_handle) {
           if (!goal_handle)
           {
             done = true;
@@ -906,9 +904,7 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
     auto send_goal_opts = rclcpp_action::Client<moveit_msgs::action::ExecuteTrajectory>::SendGoalOptions();
 
     send_goal_opts.goal_response_callback =
-        [&](std::shared_future<rclcpp_action::ClientGoalHandle<moveit_msgs::action::ExecuteTrajectory>::SharedPtr>
-                future) {
-          const auto& goal_handle = future.get();
+        [&](rclcpp_action::ClientGoalHandle<moveit_msgs::action::ExecuteTrajectory>::SharedPtr goal_handle) {
           if (!goal_handle)
           {
             done = true;