Make clang tidy happy

sjahr · Oct 13, 2023 · 1fddae7 · 1fddae7
1 parent f6b1882
commit 1fddae7
Showing 1 changed file with 15 additions and 14 deletions.
diff --git a/capabilities/src/execute_task_solution_capability.cpp b/capabilities/src/execute_task_solution_capability.cpp
@@ -94,7 +94,7 @@ void ExecuteTaskSolutionCapability::initialize() {
 	                                             std::placeholders::_1, std::placeholders::_2)),
 	    ActionServerType::CancelCallback(
 	        std::bind(&ExecuteTaskSolutionCapability::preemptCallback, this, std::placeholders::_1)),
-	    [this](const std::shared_ptr<rclcpp_action::ServerGoalHandle<ExecuteTaskSolutionAction>> goal_handle) {
+	    [this](const std::shared_ptr<rclcpp_action::ServerGoalHandle<ExecuteTaskSolutionAction>>& goal_handle) {
 		    last_goal_future_ =
 		        std::async(std::launch::async, &ExecuteTaskSolutionCapability::goalCallback, this, goal_handle);
 	    });
@@ -176,19 +176,20 @@ bool ExecuteTaskSolutionCapability::constructMotionPlan(const moveit_task_constr
 	    };
 
 	auto make_apply_planning_scene_diff_cb = [this](const std::vector<moveit_msgs::msg::PlanningScene>& scene_diffs) {
-		return
-		    [this, scene_diffs = std::move(scene_diffs)](const plan_execution::ExecutableMotionPlan* /*plan*/) mutable {
-			    for (auto& scene_diff : scene_diffs) {
-				    if (!moveit::core::isEmpty(scene_diff)) {
-					    /* RCLCPP_DEBUG_STREAM(LOGGER, "apply effect of " << description); */
-					    scene_diff.robot_state.joint_state = sensor_msgs::msg::JointState();
-					    scene_diff.robot_state.multi_dof_joint_state = sensor_msgs::msg::MultiDOFJointState();
-					    if (!context_->planning_scene_monitor_->newPlanningSceneMessage(scene_diff))
-						    return false;
-				    }
-			    }
-			    return true;
-		    };
+		return [this,
+		        &scene_diffs = std::as_const(scene_diffs)](const plan_execution::ExecutableMotionPlan* /*plan*/) mutable {
+			for (auto& const_scene_diff : scene_diffs) {
+				if (!moveit::core::isEmpty(scene_diff)) {
+					/* RCLCPP_DEBUG_STREAM(LOGGER, "apply effect of " << description); */
+					moveit_msgs::msg::PlanningScene scene_diff = const_scene_diff;
+					scene_diff.robot_state.joint_state = sensor_msgs::msg::JointState();
+					scene_diff.robot_state.multi_dof_joint_state = sensor_msgs::msg::MultiDOFJointState();
+					if (!context_->planning_scene_monitor_->newPlanningSceneMessage(scene_diff))
+						return false;
+				}
+			}
+			return true;
+		};
 	};
 	auto make_description = [size = solution.sub_trajectory.size()](const std::size_t index) {
 		return std::to_string(index + 1) + "/" + std::to_string(size);