Replaces boost mutex with std::shared_mutex. Adds execute action serv…

…er to callback group.
moveit · Jan 16, 2025 · 09d7288 · 09d7288
1 parent b92d3b2
commit 09d7288
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Showing 2 changed files with 3 additions and 2 deletions.
diff --git a/moveit_ros/move_group/src/default_capabilities/execute_trajectory_action_capability.cpp b/moveit_ros/move_group/src/default_capabilities/execute_trajectory_action_capability.cpp
@@ -80,7 +80,8 @@ void MoveGroupExecuteTrajectoryAction::initialize()
         return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
       },
       [](const std::shared_ptr<ExecTrajectoryGoal>& /* unused */) { return rclcpp_action::CancelResponse::ACCEPT; },
-      [this](const auto& goal) { executePathCallback(goal); });
+      [this](const auto& goal) { executePathCallback(goal); },
+      rcl_action_server_get_default_options(), callback_group_);
 }
 
 void MoveGroupExecuteTrajectoryAction::executePathCallback(const std::shared_ptr<ExecTrajectoryGoal>& goal)

diff --git a/...g/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.hpp b/...g/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.hpp
@@ -562,7 +562,7 @@ class MOVEIT_PLANNING_SCENE_MONITOR_EXPORT PlanningSceneMonitor
   std::atomic<bool> state_update_pending_;
 
   // Lock for writing last_robot_state_update_wall_time_ and dt_state_update_
-  boost::mutex state_update_mutex_;
+  std::shared_mutex state_update_mutex_;
 
   /// Last time the state was updated from current_state_monitor_
   // Only access this from callback functions (and constructor)