From 515627ab5121ac7bb36e02246bd218874471dc71 Mon Sep 17 00:00:00 2001
From: "David V. Lu" <davidvlu@gmail.com>
Date: Thu, 14 Apr 2022 14:30:29 -0400
Subject: [PATCH] Your future hasn't been written yet, no one's has. Your
 future is whatever you make it, so make it a good one.

---
 .../src/hybrid_planning_manager.cpp                    |  6 ++----
 .../move_group_interface/src/move_group_interface.cpp  | 10 +++-------
 2 files changed, 5 insertions(+), 11 deletions(-)

diff --git a/moveit_ros/hybrid_planning/hybrid_planning_manager/hybrid_planning_manager_component/src/hybrid_planning_manager.cpp b/moveit_ros/hybrid_planning/hybrid_planning_manager/hybrid_planning_manager_component/src/hybrid_planning_manager.cpp
index 87f142551c..dbe5d4cc71 100644
--- a/moveit_ros/hybrid_planning/hybrid_planning_manager/hybrid_planning_manager_component/src/hybrid_planning_manager.cpp
+++ b/moveit_ros/hybrid_planning/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
index 0e2d80e09b..c9898f5e62 100644
--- 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;