From 5eb2c6331d48c26bcf2c0b102134ea92d2a31a67 Mon Sep 17 00:00:00 2001
From: Shobuj Paul <shobuj.paul@gmail.com>
Date: Fri, 15 Sep 2023 17:22:35 +0530
Subject: [PATCH] Replaced std::bind with lambdas

---
 .../ompl_interface/src/ompl_interface.cpp     | 29 +++++++++++++++++--
 1 file changed, 27 insertions(+), 2 deletions(-)

diff --git a/moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp b/moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp
index 90c2f073f18..1cc074066af 100644
--- a/moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp
@@ -39,6 +39,7 @@
 #include <moveit/kinematic_constraints/utils.h>
 #include <moveit/utils/lexical_casts.h>
 #include <fstream>
+#include <utility>
 
 namespace ompl_interface
 {
@@ -59,7 +60,19 @@ OMPLInterface::OMPLInterface(const moveit::core::RobotModelConstPtr& robot_model
 
   store_planner_data_service_ = node_->create_service<std_srvs::srv::Trigger>(
       "store_planner_data",
-      std::bind(&OMPLInterface::storePlannerData, this, std::placeholders::_1, std::placeholders::_2));
+      [this](const std::shared_ptr<std_srvs::srv::Trigger::Request>,
+             std::shared_ptr<std_srvs::srv::Trigger::Response> response) -> void {
+        bool success = context_manager_.storePlannerData();
+        response->success = success;
+        if (success)
+        {
+          RCLCPP_INFO(LOGGER, "Stored motion planner data");
+        }
+        else
+        {
+          RCLCPP_ERROR(LOGGER, "Motion planning graph is empty");
+        }
+      });
 }
 
 OMPLInterface::OMPLInterface(const moveit::core::RobotModelConstPtr& robot_model,
@@ -78,7 +91,19 @@ OMPLInterface::OMPLInterface(const moveit::core::RobotModelConstPtr& robot_model
 
   store_planner_data_service_ = node_->create_service<std_srvs::srv::Trigger>(
       "store_planner_data",
-      std::bind(&OMPLInterface::storePlannerData, this, std::placeholders::_1, std::placeholders::_2));
+      [this](const std::shared_ptr<std_srvs::srv::Trigger::Request>,
+             std::shared_ptr<std_srvs::srv::Trigger::Response> response) -> void {
+        bool success = context_manager_.storePlannerData();
+        response->success = success;
+        if (success)
+        {
+          RCLCPP_INFO(LOGGER, "Stored motion planner data");
+        }
+        else
+        {
+          RCLCPP_ERROR(LOGGER, "Motion planning graph is empty");
+        }
+      });
 }
 
 OMPLInterface::~OMPLInterface() = default;