Resolved storePlannerData into a lambda

moveit · Oct 14, 2023 · ac83266 · ac83266
1 parent f27da2a
commit ac83266
Showing 1 changed file with 4 additions and 22 deletions.
diff --git a/moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp b/moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp
@@ -60,18 +60,9 @@ OMPLInterface::OMPLInterface(const moveit::core::RobotModelConstPtr& robot_model
 
   store_planner_data_service_ = node_->create_service<std_srvs::srv::Trigger>(
       "store_planner_data",
-      [this](const std::shared_ptr<std_srvs::srv::Trigger::Request>& /* unused */,
+      [this](const std::shared_ptr<std_srvs::srv::Trigger::Request>& request,
              const 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");
-        }
+        storePlannerData(request, response);
       });
 }
 
@@ -91,18 +82,9 @@ OMPLInterface::OMPLInterface(const moveit::core::RobotModelConstPtr& robot_model
 
   store_planner_data_service_ = node_->create_service<std_srvs::srv::Trigger>(
       "store_planner_data",
-      [this](const std::shared_ptr<std_srvs::srv::Trigger::Request>& /* unused */,
+      [this](const std::shared_ptr<std_srvs::srv::Trigger::Request>& request,
              const 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");
-        }
+        storePlannerData(request, response);
       });
 }