From ac832660c63c44b165399a6bc9063c47ecfeb888 Mon Sep 17 00:00:00 2001
From: Shobuj Paul <shobuj.paul@gmail.com>
Date: Tue, 19 Sep 2023 22:57:26 +0530
Subject: [PATCH] Resolved storePlannerData into a lambda

---
 .../ompl_interface/src/ompl_interface.cpp     | 26 +++----------------
 1 file changed, 4 insertions(+), 22 deletions(-)

diff --git a/moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp b/moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp
index af4bdfa063..e9865193ee 100644
--- 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);
       });
 }